Unwinds the noble-specific changes, isolate Gazebo differences

Allow setting GZ_VERSION by env variable

Author: amarburg

.docker/Dockerfile

@@ -18,7 +18,6 @@ RUN apt-get -q update \
     clang-tools \
     python3-pip \
     python3-dev \
-    python3-venv \
     lsb-release \
     wget \
     gnupg \
@@ -39,14 +38,14 @@ RUN apt-get -q update \
 
 FROM ci AS robot
 
-#
-# Ubuntu 24.04 "Noble", which is used as the base image for
-# jazzy and rolling images, now includes a user "ubuntu" at UID 1000
-ARG USERNAME=ubuntu
+# Configure a new non-root user
+ARG USERNAME=blue
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
 
-RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME \
     && usermod -a -G dialout $USERNAME \
     && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
@@ -57,17 +56,6 @@ ENV DEBIAN_FRONTEND=noninteractive
 USER $USERNAME
 ENV USER=$USERNAME
 
-# Python in Ubuntu is now marked as a "Externally managed environment",
-# Per best practice, create a venv for local python packages
-# Is there a more elegant way to handle this?
-#
-# These two ENVs effectively "activate" the venv for subsequent calls to
-# python/pip in the Dockerfile
-WORKDIR /home/$USERNAME
-ENV VIRTUAL_ENV=/home/$USERNAME/.venv/blue
-RUN python3 -m venv --system-site-packages --symlinks $VIRTUAL_ENV
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-
 # Install MAVROS dependencies
 WORKDIR /home/$USERNAME
 RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \
@@ -109,13 +97,12 @@ RUN sudo apt-get -q update \
     && sudo rm -rf /var/lib/apt/lists/*
 
 RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
-    && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc \
-    && echo "\n# Ensure colcon is run in the venv\nalias colcon='python3 -m colcon'" >> /home/$USERNAME/.bashrc
+    && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc
 
 FROM robot AS desktop
 
 ENV DEBIAN_FRONTEND=noninteractive
-ENV GZ_VERSION=harmonic
+ENV GZ_VERSION=${GZ_VERSION:-harmonic}
 
 # Gazebo Binary availability:
 #    Humble:   Garden
@@ -143,7 +130,6 @@ RUN sudo apt-get -q update \
     xterm \
     libgz-sim?-dev \
     rapidjson-dev \
-    cppzmq-dev \
     libopencv-dev \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \

blue.repos

@@ -1,10 +1,5 @@
 repositories:
 
-  ros_gz:
-    type: git
-    url: https://github.com/gazebosim/ros_gz
-    version: ros2
-
   hydrodynamics:
     type: git
     url: https://github.com/Robotic-Decision-Making-Lab/hydrodynamics.git