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As Minimal Ubuntu is just a stripped down version of Ubuntu it should "just work".
It looks to be very similar to the Ubuntu docker images that we use for development and CI. Based on the ubuntu announcement linked above, the Ubuntu docker image should be identical to Minimal Ubuntu, (though my guess is that we need https://github.com/docker-library/official-images/pull/4564 to be merged and available on DockerHub to be sure).
You will likely need to install a few more packages to bootstrap the distribution. For example you will need to install
dirmngr
gnupg2
lsb-release
to your sources to add the ROS apt repository to your sources.
Any other missing dependency would be useful to know and to contribute to the ROS 2 Wiki.
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