Split ros wrapper into two docker images.

extras/ros/dockerfile_3d

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+FROM ros:humble-ros-base-jammy
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Set the working directory to /project
+WORKDIR /project/
+
+# Update and install basic tools
+RUN apt-get update && apt-get upgrade -y
+RUN apt-get update && apt-get install -y --no-install-recommends git nano wget
+RUN apt-get update && apt-get install -y --no-install-recommends python3-pip
+RUN pip3 install --upgrade pip
+
+# Fix ros package building error
+RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
+
+# Add ROS2 sourcing by default
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+# Create ROS2 workspace for project packages
+RUN mkdir -p /project/dev_ws/src/
+RUN cd /project/dev_ws/; colcon build
+RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
+
+# Copy modules
+COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
+COPY ./rpt/ /RapidPoseTriangulation/rpt/
+COPY ./extras/ros/rpt_msgs/ /RapidPoseTriangulation/extras/ros/rpt_msgs/
+COPY ./extras/ros/rpt3d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/
+
+# Link and build as ros package
+RUN ln -s /RapidPoseTriangulation/extras/ros/rpt_msgs/ /project/dev_ws/src/
+RUN ln -s /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/ /project/dev_ws/src/
+RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Update ros packages -> autocompletion and check
+RUN /bin/bash -i -c 'ros2 pkg list'
+
+# Clear cache to save space, only has an effect if image is squashed
+RUN apt-get autoremove -y \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /RapidPoseTriangulation/
+CMD ["/bin/bash"]