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Add DOCKERFILE

Tim Kluge requested to merge timklge/panda_gazebo_workspace:master into master

This adds a docker setup as in #1 to run the examples and some hints in the readme on how to use it.

It uses the "isolated" way to run GUI in docker containers described in http://wiki.ros.org/docker/Tutorials/GUI#The_isolated_way . I think it should be sufficiently secure. The only downside is that you have to change the DOCKERFILE if your user is not the primary user on your system.

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