Replace start-docker.sh with docker-compose.yml (#422)

(cherry picked from commit 352061d)

# Conflicts:
#	doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

Author: smartin015

_scripts/docker-compose.yml

@@ -0,0 +1,45 @@
+# Example command:
+#
+#   DOCKER_IMAGE=humble-source docker-compose run gpu
+
+x-base-cpu: &base-cpu
+  privileged: true
+  network_mode: host
+  environment:
+    QT_X11_NO_MITSHM: 1
+  volumes:
+    - /tmp/.X11-unix:/tmp/.X11-unix
+    - ~/.Xauthority:/root/.Xauthority
+  command: /bin/bash
+
+x-base-gpu: &base-gpu
+  <<: *base-cpu
+  deploy:
+    resources:
+      reservations:
+        devices:
+          - driver: nvidia
+            count: 1
+            capabilities: [gpu]
+  environment:
+    NVIDIA_VISIBLE_DEVICES: all
+    NVIDIA_DRIVER_CAPABILITIES: all
+
+services:
+  cpu:
+    <<: *base-cpu
+    image: moveit/moveit2:$DOCKER_IMAGE
+    volumes:
+      - moveit2-data:/root
+    environment:
+      DISPLAY: $DISPLAY
+  gpu:
+    <<: *base-gpu
+    image: moveit/moveit2:$DOCKER_IMAGE
+    volumes:
+      - moveit2-data:/root
+    environment:
+      DISPLAY: $DISPLAY
+
+volumes:
+  moveit2-data:

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

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+How to Set Up MoveIt 2 Docker Containers in Ubuntu
+===================================================
+This guide will provide a walkthrough on how to get a Docker container with MoveIt 2 dependencies set up quickly.
+It includes a docker-compose config file that will get you up and running in MoveIt quickly!
+This guide is intended for people who would like to have a separate environment for working with MoveIt up and running quickly \
+without having to do much configuring. In this guide, we will be setting up a ROS2 Rolling environment.
+
+Learning Objectives
+-------------------
+
+- How to setup a Docker environment using the provided docker compose config
+
+Requirements
+------------
+
+- Ubuntu 20.04 or 22.04
+- `Docker Installation for Ubuntu <https://docs.docker.com/engine/install/ubuntu/>`_
+- `Nvidia drivers for Docker <https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#setting-up-nvidia-container-toolkit>`_
+- `docker compose (if not already installed via Docker Desktop) <https://docs.docker.com/compose/install/>`_
+
+Steps
+-----
+1. Install Docker and docker compose (links are available in the Requirements section) and be sure to follow the `Linux Post Install <https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user>`_ instructions. If you do not complete these additional steps you will need to preface all ``docker`` commands with ``sudo``.
+
+2. Open a terminal session, download the config, and make it executable.
+
+  .. code-block:: bash
+
+    wget https://raw.githubusercontent.com/ros-planning/moveit2_tutorials/how-to-docker-ubuntu/_scripts/docker-compose.yml
+
+3. Launch the container (you may need to hyphenate ``docker-compose`` if using compose V1)
+
+   .. code-block:: bash
+
+    DOCKER_IMAGE=rolling-source docker compose run gpu
+
+   You can replace ``rolling-source`` with other tagged images, e.g. ``humble-source``. Similarly, you can replace ``gpu`` with ``cpu`` if you do not wish to run using Nvidia GPU drivers.
+
+4. You should now be inside of your Docker container, in the workspace directory. You should now be able to start working with MoveIt!
+
+  Whenever you wish to reenter your container, run the same command as in #3.
+
+Further Reading
+---------------
+- For more information about Docker best practices with respect to MoveIt,
+  refer to `this blog post <https://picknik.ai/ros/robotics/docker/2021/07/20/Vatan-Aksoy-Tezer-Docker.html>`_
+  from PickNik's Vatan Aksoy Tezer and Brennard Pierce.
+
+- You can find a list of tagged images for the MoveIt 2 Docker container `here <https://hub.docker.com/r/moveit/moveit2/tags>`_.
+  The tagged images coincide with ROS2 version releases. The ``release`` version of the container provides an environment in which MoveIt 2 is installed via the binaries.
+  The ``source`` version of the Docker image will build MoveIt 2 from source.
+  You can use any of the images in that link by substituting the DOCKER_IMAGE environment variable with ``moveit/moveit2:<tag_name>``, where ``<tag_name>`` is from the above link.
+  For example, this guide instructs you to use the image with the tag ``rolling-source``.