Update mapping docker and startup

exwayz_mapping.dockerfile

@@ -0,0 +1,32 @@
+# syntax=docker/dockerfile:1.3
+FROM ros:jazzy-ros-core
+
+# Build argument provided by buildx/BuildKit: `TARGETARCH` (amd64, arm64, etc.).
+# Default to amd64 when not provided.
+ARG TARGETARCH=amd64
+ARG GRAPICAL_ENV=TRUE
+
+
+# Install dependencies and setup for GUI applications
+ENV DISPLAY=:0
+ENV WAYLAND_DISPLAY=wayland-0
+ENV XDG_SESSION_TYPE=x11
+ENV XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
+#If debug, install the following:
+RUN if [ "$GRAPHICAL_ENV" = "TRUE" ]; then \
+	apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils; \
+	fi
+	#TODO we're installing unneccessary things like the humanity-icons package, clean this up later. 
+
+
+	
+mkdir -p  ~/ros2_ws/src
+pushd ~/ros2_ws
+git clone https://github.com/Exwayz-Navigation/exwayz_msgs.git src/exwayz_msgs
+colcon build --packages-select exwayz_msgs --parallel-workers 2
+popd
+
+source $HOME/ros2_ws/install/local_setup.bash #resp. local_setup.zsh
+
+# Set entrypoint
+ENTRYPOINT ["/ros_entrypoint.sh"]