Updated legacy dockerfile with new setup

Dockerfile

@@ -18,4 +18,4 @@ ENV LANG en_US.UTF-8
 COPY . ~/robocup-software
 WORKDIR ~/robocup-software
 
-RUN sudo ./util/ubuntu-setup --yes --no-submodules
+RUN sudo ./util/ubuntu-setup --yes --no-submodules

Dockerfile.dev

@@ -0,0 +1,98 @@
+# The image has been pushed to rishiso/robocup-software:latest on DockerHub
+# Please read https://hub.docker.com/repository/docker/rishiso/robocup-software/general for usage
+
+# Use the official Ubuntu 22.04 image
+FROM ubuntu:22.04
+
+# Set environment variables for non-interactive installation
+ENV DEBIAN_FRONTEND=noninteractive
+ENV USER=root
+ENV DISPLAY=:1
+
+# Define the architecture-specific variable
+ARG TARGETARCH
+ENV TARGETARCH=${TARGETARCH}
+
+# Update the package list and install necessary packages, including the missing ones
+RUN apt-get update && \
+    apt-get install -y \
+    xfce4 xfce4-goodies \
+    tightvncserver \
+    xterm \
+    sudo \
+    dbus-x11 \
+    git \
+    net-tools \
+    vim \
+    python3 \
+    python3-pip \
+    curl \
+    wget \
+    cmake \
+    build-essential \
+    lsb-release \
+    software-properties-common \
+    gnupg \
+    locales \
+    && apt-get clean
+
+# Install websockify and its dependencies (latest stable version)
+RUN pip3 install --upgrade websockify
+
+# Download and install the latest stable version of noVNC from GitHub
+RUN git clone https://github.com/novnc/noVNC.git /opt/noVNC && \
+    cd /opt/noVNC && \
+    git checkout v1.3.0 && \
+    ln -s /opt/noVNC/vnc.html /opt/noVNC/index.html
+
+# Setup the VNC server configuration
+RUN mkdir -p /root/.vnc && \
+    echo "#!/bin/bash\nxrdb $HOME/.Xresources\nstartxfce4 &" > /root/.vnc/xstartup && \
+    chmod +x /root/.vnc/xstartup
+
+# Clone RoboJackets RoboCup software and install dependencies
+RUN git clone https://github.com/RoboJackets/robocup-software.git /root/robocup-software
+
+# Set timezone to avoid interactive prompt
+ENV TZ=America/New_York
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# Install dependencies
+RUN cd /root/robocup-software && \
+    ./util/ubuntu-setup -y || { echo 'ubuntu-setup script failed' ; exit 1; }
+
+RUN cd /root/robocup-software && \
+    ./util/git-setup || { echo 'git-setup script failed' ; exit 1; }
+
+# Clone and build ER-Force’s simulator
+RUN git clone https://github.com/robotics-erlangen/framework.git /root/framework && \
+    cd /root/framework && \
+    mkdir build && cd build && \
+    cmake .. && \
+    make simulator-cli
+
+# Use bash to source the ROS2 setup file and run make perf
+RUN bash -c "source /opt/ros/humble/setup.bash && \
+    cd /root/robocup-software && make perf && \
+    source install/setup.bash"
+
+# Install external ref (conditionally download the correct binary based on architecture)
+RUN cd /root && \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        curl https://github.com/RoboCup-SSL/ssl-game-controller/releases/download/v3.12.3/ssl-game-controller_v3.12.3_linux_amd64 -L -O; \
+    elif [ "$TARGETARCH" = "arm64" ]; then \
+        curl https://github.com/RoboCup-SSL/ssl-game-controller/releases/download/v3.12.3/ssl-game-controller_v3.12.3_linux_arm64 -L -O; \
+    fi && \
+    chmod +x ssl-game-controller_v3.12.3_linux_*
+
+# Expose the VNC, noVNC, and external ref ports
+EXPOSE 5901 6080 8081
+
+# Start the VNC server and noVNC services
+CMD ["/bin/bash", "-c", "\
+    rm -rf /tmp/.X1-lock /tmp/.X11-unix/X1 && \
+    mkdir -p /root/.vnc && \
+    echo 'password' | vncpasswd -f > /root/.vnc/passwd && \
+    chmod 600 /root/.vnc/passwd && \
+    vncserver :1 -geometry 1920x1080 -depth 24 && \
+    /opt/noVNC/utils/novnc_proxy --vnc localhost:5901 --listen 6080"]

docs/source/installation.rst

@@ -5,6 +5,8 @@ Installation
    If you are completely unfamiliar with the command line or basic git
    usage, see the Tutorial page before proceeding. 
 
+Virtual Machine Setup
+---------------------
 We only provide official support for Ubuntu 22.04 due to ROS2. Make sure you
 are on an Ubuntu 22.04 machine before continuing. For Windows users, using WSL2
 with Ubuntu 22.04 will work. The steps to set this up can be found `here
@@ -125,6 +127,18 @@ If everything is working properly, you should see the following window show up.
 
    ./_static/soccer.png
 
+Docker Setup
+------------
+Instead of using a virtual machine, you can also install our software using Docker. 
+The Docker image has our tech stack and all the dependencies pre-installed with 
+a desktop GUI. The Docker setup should work on any platform (Windows, Mac, ARM, AMD, etc.).
+
+Before you start, make sure you have Docker installed on your computer. The steps for doing
+so can be found at https://docs.docker.com/engine/install/.
+
+Once you have Docker installed, please follow the steps for installing and using our RoboCup 
+image at `DockerHub
+<https://hub.docker.com/r/robojackets/robocup-software>`_.
 
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