Dockerfile with ROS2 humble and Cartographer

[Assume-Zhan]

Closes: #12

[j3soon]

As an additional note, I think it's better to directly use permalinks in the comment, instead of separating the file path.

See commit https://github.com/j3soon/ros2-essentials/commit/5ba989934b2da077edcfa4aae7b23e57114ff9b2.

The permalink of a file can be copied from: Hamburger Icon > Copy permalink

Refs:

• https://docs.github.com/en/repositories/working-with-files/using-files/getting-permanent-links-to-files
• https://docs.github.com/en/get-started/writing-on-github/working-with-advanced-formatting/creating-a-permanent-link-to-a-code-snippet