Make a gamepad work in the maritime container

[bsb808]

Updates to the maritime container as a consequence of reviewing HonuRobotics/bluerobotics_models#47

• Adds the teleop packages. Better to have them apt installed than to have to run rosdep each time.
• Mount the gamepad. /dev/input was not mounted.
  • "The mount alone is still not enough. Docker's device cgroup denies the nodes even once they are visible in the filesystem, so open() fails with EPERM and SDL reports nothing found — indistinguishable from an unplugged gamepad. device_cgroup_rules: ['c 13:* rmw'] is what actually grants access. Both were tested separately against a Logitech F310; the mount without the cgroup rule reproduces the empty-table symptom exactly."
  • "The directory is mounted rather than a node named in devices:, because event* numbering changes on every replug and devices: does not recurse into a directory. No group_add: input is needed: logind's ACL already grants uid 1000 rw on the nodes, and the container user is uid 1000."
• Adds joystick (for jstest) and evtest, the console cross-checks for the two device flavours, plus ros-${ROS_DISTRO}-rqt and ros-${ROS_DISTRO}-rqt-graph for general introspection.

Testing

Re-build the maritime container and work through the teleop.md demonstration in HonuRobotics/bluerobotics_models#47 - with a Logitech F310 gamepad (with the back switch on X)