To build: cannot build two architectures at the same time because of the precompiled libraries of segwayrmp.

Build command: docker buildx create --name mybuilder docker buildx use mybuilder export DOCKER_CLI_EXPERIMENTAL=enabled

docker buildx build --platform linux/arm64 --build-arg GHCR_TOKEN=<your_token> -f ./dockerfile.amd64 -t ghcr.io/bjoernellens1/ros:humble-amd64 . --push

or docker buildx build --platform linux/arm64 --build-arg GHCR_TOKEN=<your_token> -f ./dockerfile.arm64 -t ghcr.io/bjoernellens1/ros:humble-arm64 . --push

For launching robot: docker run -d --restart always -it --name humble --privileged --net host -v /dev:/dev ghcr.io/bjoernellens1/ros:humble-arm64

or docker exec -it humble /bin/bash

and inside container: ros2 launch rmp220_teleop robot.launch.py