Dev container

ROS 2 Humble with every dependency of src/ (rosdep: Molly, the Dharma stack, the Lite3 package), Livox-SDK2, the lint tools (pre-commit, ruff) and an XFCE desktop over VNC for RViz. The repository is bind-mounted at the path it has on the robot (/home/robot/dev/Molly), so configs and launch defaults behave the same; build/, install/ and log/ live in Docker volumes (fast on macOS, kept across restarts).

scripts/dev.sh up        # imports the Dharma stack (molly.repos) if missing, builds the image, starts it
scripts/dev.sh build     # colcon build inside (args go to colcon)
scripts/dev.sh test      # colcon test + colcon test-result
scripts/dev.sh shell     # a shell with ROS and the workspace sourced
scripts/dev.sh vnc       # VNC localhost:5901 (macOS Screen Sharing) or http://localhost:6080/vnc.html
scripts/dev.sh down      # stop (volumes kept); scripts/dev.sh clean wipes build/install/log
scripts/dev.sh doctor    # Docker, compose, memory and GitHub access

The VNC password defaults to molly (VNC_PASSWORD=... scripts/dev.sh up); the ports are bound to localhost only. Rebuild the image (up does it) after a package.xml gains a dependency; code changes only need scripts/dev.sh build. Docker Desktop on macOS cannot do DDS multicast to the robot: use the container for building, tests and the simulator (ros2 launch molly_bringup sim.launch.py rviz:=true).