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You could use the Dockerfiles for building ROS2 from source that are available from the osrf/docker_images repo:

https://github.com/osrf/docker_images/tree/master/ros2/source

For example:

git clone https://github.com/osrf/docker_images.git
cd docker_images/ros2/source/devel
docker build --tag arm32v7/ros2:devel \
    --build-arg=FROM_IMAGE=arm32v7/ubuntu:focal .
cd ../source
docker build --tag arm32v7/ros:foxy \
    --build-arg=FROM_IMAGE=arm32v7/ros2:devel \
    --build-arg=ROS_DISTRO=foxy .

Then you could use the final image directly like any official library docker image for ROS. I'd suggest you install qemu on the host machine if you intend to run the docker build commands if the workstation has a foreign architecture as compared from the base image, e.g. arm32v7 base image vs amd64 host os.

Related:
* https://discourse.ros.org/t/announcing-ros-docker-images-for-arm-and-debian/2467
* https://discourse.ros.org/t/official-docker-images-for-ros2-crystal-and-arm32v7/6872