docker: add docker for easy docker setup

docker/ubuntu/Dockerfile

+FROM ubuntu:22.04
+
+RUN apt-get update -y && DEBIAN_FRONTEND=noninteractive apt-get install -qqy \
+    build-essential \
+    cmake \
+    cmake-curses-gui \
+    vim \
+    gdb \
+    git \
+    libboost-all-dev \
+    libeigen3-dev \
+    liburdfdom-dev \
+    python3-numpy
+
+WORKDIR /src
+RUN git clone --recursive -j2 -b devel https://github.com/stack-of-tasks/eigenpy
+
+ENV CTEST_OUTPUT_ON_FAILURE=ON
+ENV CTEST_PROGRESS_OUTPUT=ON
+ENV CTEST_PARALLEL_LEVEL=2
+
+WORKDIR /src/eigenpy/build
+RUN cmake -DPYTHON_EXECUTABLE=$(which python3) -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=ON ..
+RUN make -sj2