From 174fde683f56b136880392dc7f0f43f45da301e6 Mon Sep 17 00:00:00 2001
From: samminhch <45446622+samminhch@users.noreply.github.com>
Date: Wed, 24 Sep 2025 22:07:51 -0500
Subject: [PATCH 01/11] fix: Updated Dockerfile following Gazebo Garden
 deprecation Additionally, added files for a nix development shell

---
 .envrc            |   1 +
 .gitignore        |   2 +
 Docker/Dockerfile | 148 +++++++++++++++++++++-------------------------
 flake.lock        |  44 ++++++++++++++
 flake.nix         |  40 +++++++++++++
 5 files changed, 153 insertions(+), 82 deletions(-)
 create mode 100644 .envrc
 create mode 100644 flake.lock
 create mode 100644 flake.nix

diff --git a/.envrc b/.envrc
new file mode 100644
index 0000000..3550a30
--- /dev/null
+++ b/.envrc
@@ -0,0 +1 @@
+use flake
diff --git a/.gitignore b/.gitignore
index 674860a..cc5980f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,7 @@
 src/log/
 src/build/
 src/install/
+*backup
+.direnv
 .config/nvim/
 .config/setup-development-enviornment.sh
diff --git a/Docker/Dockerfile b/Docker/Dockerfile
index 2cbbb51..2b20545 100644
--- a/Docker/Dockerfile
+++ b/Docker/Dockerfile
@@ -1,112 +1,98 @@
+# [TODO] Find faster mirrors again, and uncomment this and `sed` lines
+# ARG MIRROR='http://dal.mirrors.clouvider.net' # [INFO] Found using apt-select --country US -t 10 
+ARG ROS_DISTRO='humble'
+ARG DEBIAN_FRONTEND='noninteractive'
+
 ###############
 # BUILD IMAGE #
 ###############
-FROM ros:humble-ros-core AS builder
+FROM ros:${ROS_DISTRO}-ros-core AS builder
 SHELL ["/bin/bash", "-c"]
 
 # Use Faster Mirrors
-##  INFO: Found using apt-select --country US -t 10 
-ARG MIRROR='http://dal.mirrors.clouvider.net' 
-RUN sed -r -i "s,http://(.*).ubuntu.com,${MIRROR}," /etc/apt/sources.list
+# RUN sed -r -i "s,http://(.*).ubuntu.com,${MIRROR}," /etc/apt/sources.list
 
 # Setup Environment
-
-## ROS2
-ARG ROS_DISTRO='humble'
-ARG DEBIAN_FRONTEND='noninteractive'
-
 ENV USER='root'
 ENV HOME="/${USER}"
-ENV BOAT_WS='/root/roboboat_ws'
-
-# Install some packages
-RUN apt-get update && apt-get -y --no-install-recommends install \
-    cmake wget curl git lsb-release \
-    build-essential software-properties-common && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
 
-## Setup Workspace
+# Setup Workspace
+ENV BOAT_WS="${HOME}/roboboat_ws"
 RUN mkdir -p "${BOAT_WS}/src"
-WORKDIR "${BOAT_WS}/src"
 
-#####################
-# BUILD IMAGE (VRX) #
-#####################
-FROM builder AS builder_vrx
-
-## Add Gazebo Repository
+# [INFO] Install the default Gazebo pairing with the ROS2 distribution
 RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
-    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
-    add-apt-repository -y universe && \
-    apt-get update && apt-get -y --no-install-recommends install \
-    python3-sdformat13 gz-garden \
-    ros-${ROS_DISTRO}-xacro \
-    ros-${ROS_DISTRO}-ros-gzgarden \
-    python3-colcon-common-extensions \
-    ros-${ROS_DISTRO}-image-transport && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
-
+  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
+  add-apt-repository -y universe && \
+  apt-get update && apt-get -y --no-install-recommends install \
+  cmake wget curl git lsb-release build-essential \
+  software-properties-common python3-sdformat13  \
+  # ROS2 Gazebo Packages
+  gz-fortress \
+  ros-${ROS_DISTRO}-ros-gzfortress \
+  ros-${ROS_DISTRO}-xacro \
+  python3-colcon-common-extensions \
+  ros-${ROS_DISTRO}-image-transport && \
+  apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# [TODO] Add ZED SDK support
+# [INFO] Build the VRX simulation and ZED ROS2 Wrapper packages
+ARG VRX_REPO='osrf/vrx'
+ARG VRX_BRANCH='v3.0.4'
+# ARG ZED_REPO='stereolabs/zed-ros2-wrapper'
+# ARG ZED_BRANCH='humble-v5.0.0'
 WORKDIR ${BOAT_WS}/src
-RUN git clone --progress --verbose --recursive --depth 1 --branch 2.4.1 https://github.com/osrf/vrx.git && \
-    cd ${BOAT_WS} && source /opt/ros/${ROS_DISTRO}/setup.bash && \
-    colcon build --parallel-workers $(nproc) --base-paths src --merge-install && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
-
+RUN git clone --progress --verbose --recursive --depth 1 --branch ${VRX_BRANCH} https://github.com/${VRX_REPO}.git && \
+  # git clone --progress --verbose --recursive --depth 1 --branch ${ZED_BRANCH} https://github.com/${ZED_REPO}.git && \
+  cd ${BOAT_WS} && source /opt/ros/${ROS_DISTRO}/setup.bash && \
+  colcon build --symlink-install --parallel-workers $(nproc) --cmake-args=-DCMAKE_BUILD_TYPE=Release --base-paths src && \
+  apt-get clean && rm -rf /var/lib/apt/lists/*
 
 ##############
 # BASE IMAGE #
 ##############
-
 FROM ros:humble-ros-core AS base
 SHELL ["/bin/bash", "-c"]
 
-# Use Faster Mirrors
-ARG MIRROR='http://dal.mirrors.clouvider.net' # INFO: Found using apt-select --country US -t 10 
-RUN sed -r -i "s,http://(.*).ubuntu.com,${MIRROR}," /etc/apt/sources.list
+# RUN sed -r -i "s,http://(.*).ubuntu.com,${MIRROR}," /etc/apt/sources.list
 
 # Setup Environment
 ENV USER='root'
 ENV HOME="/${USER}"
-
-ENV BOAT_WS='/root/roboboat_ws'
+ENV BOAT_WS="${HOME}/roboboat_ws"
 RUN mkdir -p ${BOAT_WS}
 
 ## ROS2
-ARG DEBIAN_FRONTEND='noninteractive'
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 ## .bashrc
 COPY .config/.bashrc ${HOME}/.bashrc
 COPY .config/.bash.d ${HOME}/.bash.d
 
-# Install Developer Packges
-RUN apt-get update && apt-get -y --no-install-recommends install \
-    software-properties-common apt-utils wget curl \
-    python3-minimal python-is-python3 python3-pip && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
-
-# Setup ROS2 Humble packages
+# Install common packges
 RUN apt-get update && apt-get -y --no-install-recommends install \
-    python3-vcstool ros-dev-tools \
-    python3-colcon-common-extensions \
-    ros-${ROS_DISTRO}-point-cloud-transport \
-    ros-${ROS_DISTRO}-robot-localization \
-    ros-${ROS_DISTRO}-velodyne \
-    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
+  software-properties-common apt-utils wget curl \
+  python3-minimal python-is-python3 python3-pip \
+  python3-vcstool ros-dev-tools \
+  python3-colcon-common-extensions \
+  ros-${ROS_DISTRO}-point-cloud-transport \
+  ros-${ROS_DISTRO}-robot-localization \
+  ros-${ROS_DISTRO}-velodyne \
+  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
+  apt-get clean && rm -rf /var/lib/apt/lists/*
 
 # Add ROS2-Specific configurations to `.bashrc`
 RUN echo "source ${BOAT_WS}/install/setup.bash" >> ${HOME}/.bashrc && \
-    echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ${HOME}/.bashrc && \
-    echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ${HOME}/.bashrc && \
-    echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ${HOME}/.bashrc && \
-    echo "export _colcon_cd_root=/opt/ros/${ROS_DISTRO}/" >> ${HOME}/.bashrc && \
-    echo "cd ${BOAT_WS}" >> ${HOME}/.bashrc
+  echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ${HOME}/.bashrc && \
+  echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ${HOME}/.bashrc && \
+  echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ${HOME}/.bashrc && \
+  echo "export _colcon_cd_root=/opt/ros/${ROS_DISTRO}/" >> ${HOME}/.bashrc && \
+  echo "cd ${BOAT_WS}" >> ${HOME}/.bashrc
 
 # Set Entrypoint Script
 COPY ./Docker/entrypoint.sh ${HOME}
 RUN chmod +x ${HOME}/entrypoint.sh
-ENTRYPOINT  ["/root/entrypoint.sh"] 
+ENTRYPOINT "${HOME}/entrypoint.sh" 
 
 #####################
 # DEVELOPMENT IMAGE #
@@ -118,23 +104,21 @@ COPY --from=builder_vrx ${BOAT_WS}/install ${BOAT_WS}/install
 
 # Install Dependencies
 RUN apt-get update && apt-get -y --no-install-recommends install \
-    net-tools iputils-ping \ 
-    libturbojpeg && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
+  net-tools iputils-ping \ 
+  libturbojpeg && \
+  apt-get clean && rm -rf /var/lib/apt/lists/*
 
 # Install Gazebo Garden
-
-## Add Gazebo Repository
 RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
-    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-RUN apt-get update && apt-get -y --no-install-recommends install \
-    python3-sdformat13 gz-garden \
-    python3-colcon-common-extensions \
-    ros-${ROS_DISTRO}-xacro \
-    ros-${ROS_DISTRO}-ros-gzgarden \
-    ros-${ROS_DISTRO}-image-transport \
-    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
+  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
+  apt-get update && apt-get -y --no-install-recommends install \
+  python3-sdformat13 gz-fortress \
+  python3-colcon-common-extensions \
+  ros-${ROS_DISTRO}-xacro \
+  ros-${ROS_DISTRO}-ros-gzgarden \
+  ros-${ROS_DISTRO}-image-transport \
+  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
+  apt-get clean && rm -rf /var/lib/apt/lists/*
 
 #################
 # RELEASE IMAGE #
@@ -144,5 +128,5 @@ FROM base AS release
 WORKDIR ${BOAT_WS}/src
 COPY ./src/roboboat2025_ros2 .
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
-    colcon build --parallel-workers $(nproc) --merge-install --base-paths src && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
+  colcon build --parallel-workers $(nproc) --merge-install --base-paths src && \
+  apt-get clean && rm -rf /var/lib/apt/lists/*
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 0000000..7c2201a
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,44 @@
+{
+  "nodes": {
+    "nix-conf": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1758359326,
+        "narHash": "sha256-4qSMaKJb6rImkTs5w0SMJyZVAMUAq9G0ieluMbZfg80=",
+        "owner": "wentasah",
+        "repo": "nix-conf",
+        "rev": "5c6b082770719127817cb92051f7c3a6f1e86d97",
+        "type": "github"
+      },
+      "original": {
+        "owner": "wentasah",
+        "repo": "nix-conf",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1758346548,
+        "narHash": "sha256-afXE7AJ7MY6wY1pg/Y6UPHNYPy5GtUKeBkrZZ/gC71E=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "b2a3852bd078e68dd2b3dfa8c00c67af1f0a7d20",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-25.05",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "nix-conf": "nix-conf",
+        "nixpkgs": "nixpkgs"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 0000000..3a61ddf
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,40 @@
+{
+  description = "A quick flake for Dockerfile development";
+  inputs = {
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-25.05";
+    nix-conf = {
+      url = "github:wentasah/nix-conf";
+      flake = false;
+    };
+  };
+
+  outputs =
+    inputs@{ self, nixpkgs, ... }:
+    let
+      system = "x86_64-linux";
+    in
+    {
+      devShells."${system}".default =
+        let
+          pkgs = import nixpkgs {
+            inherit system;
+          };
+          # Import the veridian package from nix-conf
+          veridian = pkgs.callPackage "${inputs.nix-conf}/pkgs/veridian/default.nix" { };
+        in
+        pkgs.mkShell {
+          # create an environment with nodejs_18, pnpm, and yarn
+          packages = with pkgs; [
+            dockerfile-language-server-nodejs
+            docker-compose-language-service
+            yaml-language-server
+            lazygit
+          ];
+
+          shellHook = ''
+            echo "You're in the SystemVerilog development shell using the 'iverilog' simulator"
+          '';
+        };
+    };
+}
+

From 7e3544a645ed3703689bfa853beb24515c65b263 Mon Sep 17 00:00:00 2001
From: samminhch <45446622+samminhch@users.noreply.github.com>
Date: Fri, 26 Sep 2025 14:48:51 -0500
Subject: [PATCH 02/11] feat(devops): Added flake packages for docker-compose
 and docker buildx, and ignore nix results

---
 .gitignore |  1 +
 flake.lock | 17 -----------------
 flake.nix  | 20 +++++++++++---------
 3 files changed, 12 insertions(+), 26 deletions(-)

diff --git a/.gitignore b/.gitignore
index cc5980f..3220ad6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,5 +3,6 @@ src/build/
 src/install/
 *backup
 .direnv
+result
 .config/nvim/
 .config/setup-development-enviornment.sh
diff --git a/flake.lock b/flake.lock
index 7c2201a..59c4288 100644
--- a/flake.lock
+++ b/flake.lock
@@ -1,21 +1,5 @@
 {
   "nodes": {
-    "nix-conf": {
-      "flake": false,
-      "locked": {
-        "lastModified": 1758359326,
-        "narHash": "sha256-4qSMaKJb6rImkTs5w0SMJyZVAMUAq9G0ieluMbZfg80=",
-        "owner": "wentasah",
-        "repo": "nix-conf",
-        "rev": "5c6b082770719127817cb92051f7c3a6f1e86d97",
-        "type": "github"
-      },
-      "original": {
-        "owner": "wentasah",
-        "repo": "nix-conf",
-        "type": "github"
-      }
-    },
     "nixpkgs": {
       "locked": {
         "lastModified": 1758346548,
@@ -34,7 +18,6 @@
     },
     "root": {
       "inputs": {
-        "nix-conf": "nix-conf",
         "nixpkgs": "nixpkgs"
       }
     }
diff --git a/flake.nix b/flake.nix
index 3a61ddf..cc109ab 100644
--- a/flake.nix
+++ b/flake.nix
@@ -2,10 +2,6 @@
   description = "A quick flake for Dockerfile development";
   inputs = {
     nixpkgs.url = "github:NixOS/nixpkgs/nixos-25.05";
-    nix-conf = {
-      url = "github:wentasah/nix-conf";
-      flake = false;
-    };
   };
 
   outputs =
@@ -19,22 +15,28 @@
           pkgs = import nixpkgs {
             inherit system;
           };
-          # Import the veridian package from nix-conf
-          veridian = pkgs.callPackage "${inputs.nix-conf}/pkgs/veridian/default.nix" { };
         in
         pkgs.mkShell {
           # create an environment with nodejs_18, pnpm, and yarn
           packages = with pkgs; [
+            harper
+            marksman
+            docker-compose
+            docker-client
+            docker-buildx
             dockerfile-language-server-nodejs
             docker-compose-language-service
             yaml-language-server
             lazygit
           ];
-
           shellHook = ''
-            echo "You're in the SystemVerilog development shell using the 'iverilog' simulator"
+            mkdir -p "$HOME/.docker/cli-plugins"
+            ln -sf "$(which docker-buildx)" "$HOME/.docker/cli-plugins/docker-buildx"
           '';
+          # Environment variables
+          COMPOSE_BAKE = true;
+          DOCKER_BUILDKIT = true;
+          COMPOSE_DOCKER_CLI_BUILD = true;
         };
     };
 }
-

From c624b7ce9b54bce73b6189b3eea3011610f1f036 Mon Sep 17 00:00:00 2001
From: samminhch <45446622+samminhch@users.noreply.github.com>
Date: Fri, 26 Sep 2025 14:49:12 -0500
Subject: [PATCH 03/11] docs: Updated README.md for MacOS-specific help

---
 README.md | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index 03ddf81..39ef99b 100644
--- a/README.md
+++ b/README.md
@@ -1,21 +1,33 @@
-# RoboBoat 2025 Codebase
+# UTD RoboBoat Codebase
 
 ```bash
 .
 ├── .config/
-│   ├── .bash.d
-│   ├── .bashrc
-│   ├── setup-development-enviornment.sh
-│   └── starship.toml
 ├── Docker/
 │   ├── Dockerfile
 │   └── entrypoint.sh
 ├── docker-compose.yml
+├── flake.nix
+├── flake.lock
 ├── README.md
 └── src/
     └── roboboat2025/
 ```
 
+## Development with MacOS
+The images _should_ work on MacOS, seeing as the docker images also build for `linux/arm64`. The only issue that _could_ happen is through display forwarding (i.e. graphical applications not showing on MacOS), in which `xquartz` would be required:
+
+>[!CAUTION]
+> None of these instructions were tested _at all_ by me! I just happened to find them from GitHub Gists ([Gist A](https://gist.github.com/cschiewek/246a244ba23da8b9f0e7b11a68bf3285) and [Gist B](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088))
+
+1. Make sure you have [Homebrew](https://brew.sh/) (a package manager for MacOS) installed.
+2. Install `xquartz` with `brew install --cask xquartz`. 
+3. Open the application and on its `preferences -> security` tab, check the box that says "**Allow connections from network clients**".
+4. Relaunch the application
+5. On you terminal, enter `xhost +host.docker.internal` to allow connections from Docker 
+6. ...you should be good to go!
+
+
 ## Running Development Container in a Detached State
 
 You would normally do this whenever you are starting the container in order to attach to it in a code editor such as VSCode:

From 4b2593c5f93b90789590b8944eacc4901a0a9206 Mon Sep 17 00:00:00 2001
From: samminhch <45446622+samminhch@users.noreply.github.com>
Date: Fri, 26 Sep 2025 15:31:20 -0500
Subject: [PATCH 04/11] Attempt to get faster mirrors

---
 Docker/Dockerfile | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/Docker/Dockerfile b/Docker/Dockerfile
index 2b20545..eb4f5c4 100644
--- a/Docker/Dockerfile
+++ b/Docker/Dockerfile
@@ -1,5 +1,4 @@
 # [TODO] Find faster mirrors again, and uncomment this and `sed` lines
-# ARG MIRROR='http://dal.mirrors.clouvider.net' # [INFO] Found using apt-select --country US -t 10 
 ARG ROS_DISTRO='humble'
 ARG DEBIAN_FRONTEND='noninteractive'
 
@@ -9,8 +8,8 @@ ARG DEBIAN_FRONTEND='noninteractive'
 FROM ros:${ROS_DISTRO}-ros-core AS builder
 SHELL ["/bin/bash", "-c"]
 
-# Use Faster Mirrors
-# RUN sed -r -i "s,http://(.*).ubuntu.com,${MIRROR}," /etc/apt/sources.list
+# Use faster mirrors
+RUN sed -i "s,http://[^ ]*archive\.ubuntu\.com/ubuntu,mirror://mirrors.ubuntu.com/mirrors.txt,g" /etc/apt/sources.list
 
 # Setup Environment
 ENV USER='root'
@@ -54,7 +53,7 @@ RUN git clone --progress --verbose --recursive --depth 1 --branch ${VRX_BRANCH}
 FROM ros:humble-ros-core AS base
 SHELL ["/bin/bash", "-c"]
 
-# RUN sed -r -i "s,http://(.*).ubuntu.com,${MIRROR}," /etc/apt/sources.list
+RUN sed -i 's,http://[^ ]*archive\.ubuntu\.com/ubuntu,mirror://mirrors.ubuntu.com/mirrors.txt,g' /etc/apt/sources.list
 
 # Setup Environment
 ENV USER='root'

From 8c6f1eb6c84e0dd4f39500ded51f07125dd642e4 Mon Sep 17 00:00:00 2001
From: samminhch <45446622+samminhch@users.noreply.github.com>
Date: Fri, 26 Sep 2025 15:32:47 -0500
Subject: [PATCH 05/11] feat(Dockerfile): update to ROS2 Jazzy

---
 Docker/Dockerfile | 60 +++++++++++++++++++----------------------------
 1 file changed, 24 insertions(+), 36 deletions(-)

diff --git a/Docker/Dockerfile b/Docker/Dockerfile
index eb4f5c4..fd75d7a 100644
--- a/Docker/Dockerfile
+++ b/Docker/Dockerfile
@@ -1,5 +1,5 @@
 # [TODO] Find faster mirrors again, and uncomment this and `sed` lines
-ARG ROS_DISTRO='humble'
+ARG ROS_DISTRO='jazzy'
 ARG DEBIAN_FRONTEND='noninteractive'
 
 ###############
@@ -19,20 +19,20 @@ ENV HOME="/${USER}"
 ENV BOAT_WS="${HOME}/roboboat_ws"
 RUN mkdir -p "${BOAT_WS}/src"
 
+# Install base packages
+RUN apt-get update && apt-get -y --no-install-recommends install \
+  cmake wget curl git lsb-release build-essential \
+  gnupg software-properties-common \
+  && apt-get clean && rm -rf /var/lib/apt/lists/*
+
 # [INFO] Install the default Gazebo pairing with the ROS2 distribution
-RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
-  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
-  add-apt-repository -y universe && \
+RUN add-apt-repository -y universe && \
   apt-get update && apt-get -y --no-install-recommends install \
-  cmake wget curl git lsb-release build-essential \
-  software-properties-common python3-sdformat13  \
-  # ROS2 Gazebo Packages
-  gz-fortress \
-  ros-${ROS_DISTRO}-ros-gzfortress \
+  ros-${ROS_DISTRO}-ros-gz \
   ros-${ROS_DISTRO}-xacro \
+  ros-${ROS_DISTRO}-image-transport \
   python3-colcon-common-extensions \
-  ros-${ROS_DISTRO}-image-transport && \
-  apt-get clean && rm -rf /var/lib/apt/lists/*
+  && apt-get clean && rm -rf /var/lib/apt/lists/*
 
 # [TODO] Add ZED SDK support
 # [INFO] Build the VRX simulation and ZED ROS2 Wrapper packages
@@ -44,13 +44,13 @@ WORKDIR ${BOAT_WS}/src
 RUN git clone --progress --verbose --recursive --depth 1 --branch ${VRX_BRANCH} https://github.com/${VRX_REPO}.git && \
   # git clone --progress --verbose --recursive --depth 1 --branch ${ZED_BRANCH} https://github.com/${ZED_REPO}.git && \
   cd ${BOAT_WS} && source /opt/ros/${ROS_DISTRO}/setup.bash && \
-  colcon build --symlink-install --parallel-workers $(nproc) --cmake-args=-DCMAKE_BUILD_TYPE=Release --base-paths src && \
+  colcon build --merge-install --parallel-workers $(nproc) --cmake-args=-DCMAKE_BUILD_TYPE=Release --base-paths src && \
   apt-get clean && rm -rf /var/lib/apt/lists/*
 
 ##############
 # BASE IMAGE #
 ##############
-FROM ros:humble-ros-core AS base
+FROM ros:${ROS_DISTRO}-ros-core AS base
 SHELL ["/bin/bash", "-c"]
 
 RUN sed -i 's,http://[^ ]*archive\.ubuntu\.com/ubuntu,mirror://mirrors.ubuntu.com/mirrors.txt,g' /etc/apt/sources.list
@@ -61,18 +61,14 @@ ENV HOME="/${USER}"
 ENV BOAT_WS="${HOME}/roboboat_ws"
 RUN mkdir -p ${BOAT_WS}
 
-## ROS2
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
 ## .bashrc
 COPY .config/.bashrc ${HOME}/.bashrc
 COPY .config/.bash.d ${HOME}/.bash.d
 
 # Install common packges
 RUN apt-get update && apt-get -y --no-install-recommends install \
-  software-properties-common apt-utils wget curl \
-  python3-minimal python-is-python3 python3-pip \
-  python3-vcstool ros-dev-tools \
+  software-properties-common apt-utils wget curl libturbojpeg\
+  python3-minimal python-is-python3 python3-pip python3-vcstool \
   python3-colcon-common-extensions \
   ros-${ROS_DISTRO}-point-cloud-transport \
   ros-${ROS_DISTRO}-robot-localization \
@@ -80,6 +76,12 @@ RUN apt-get update && apt-get -y --no-install-recommends install \
   ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
   apt-get clean && rm -rf /var/lib/apt/lists/*
 
+## ROS2
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+
+# Copy files from the builder
+COPY --from=builder ${BOAT_WS}/install ${BOAT_WS}/install
 # Add ROS2-Specific configurations to `.bashrc`
 RUN echo "source ${BOAT_WS}/install/setup.bash" >> ${HOME}/.bashrc && \
   echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ${HOME}/.bashrc && \
@@ -98,25 +100,11 @@ ENTRYPOINT "${HOME}/entrypoint.sh"
 #####################
 FROM base AS development
 
-# Copy files from the builder
-COPY --from=builder_vrx ${BOAT_WS}/install ${BOAT_WS}/install
-
 # Install Dependencies
 RUN apt-get update && apt-get -y --no-install-recommends install \
-  net-tools iputils-ping \ 
-  libturbojpeg && \
-  apt-get clean && rm -rf /var/lib/apt/lists/*
-
-# Install Gazebo Garden
-RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
-  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
-  apt-get update && apt-get -y --no-install-recommends install \
-  python3-sdformat13 gz-fortress \
-  python3-colcon-common-extensions \
-  ros-${ROS_DISTRO}-xacro \
-  ros-${ROS_DISTRO}-ros-gzgarden \
-  ros-${ROS_DISTRO}-image-transport \
-  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
+  net-tools iputils-ping ros-dev-tools \ 
+  ros-${ROS_DISTRO}-ros-gz \
+  && \
   apt-get clean && rm -rf /var/lib/apt/lists/*
 
 #################

From 1505f9192db822aace06f643601d381657d885c6 Mon Sep 17 00:00:00 2001
From: samminhch <45446622+samminhch@users.noreply.github.com>
Date: Thu, 2 Oct 2025 10:14:26 -0500
Subject: [PATCH 06/11] hotfix: MVP development ROS2 Docker images for MacOS,
 Windows, and Linux

Updated the Dockerfile to support ROS2 development for the x86_64 and
arm64 computer architectures. Additionally,
---
 Docker/Dockerfile  | 181 +++++++++++++++++++++++----------------------
 docker-compose.yml |  64 ++++++++--------
 2 files changed, 127 insertions(+), 118 deletions(-)

diff --git a/Docker/Dockerfile b/Docker/Dockerfile
index fd75d7a..1e37b88 100644
--- a/Docker/Dockerfile
+++ b/Docker/Dockerfile
@@ -1,64 +1,96 @@
-# [TODO] Find faster mirrors again, and uncomment this and `sed` lines
-ARG ROS_DISTRO='jazzy'
-ARG DEBIAN_FRONTEND='noninteractive'
-
-###############
-# BUILD IMAGE #
-###############
-FROM ros:${ROS_DISTRO}-ros-core AS builder
-SHELL ["/bin/bash", "-c"]
-
-# Use faster mirrors
-RUN sed -i "s,http://[^ ]*archive\.ubuntu\.com/ubuntu,mirror://mirrors.ubuntu.com/mirrors.txt,g" /etc/apt/sources.list
-
-# Setup Environment
-ENV USER='root'
-ENV HOME="/${USER}"
+ARG ROS_DISTRO="humble"
+
+ARG USER="root"
+ARG HOME="/${USER}"
+ARG BOAT_WS="${HOME}/roboboat_ws"
+
+ARG PKGS_BASE="git wget curl jq"
+ARG PKGS_DEV="software-properties-common apt-utils python3-minimal python-is-python3 python3-pip python3-vcstool python3-colcon-common-extensions net-tools iputils-ping ros-dev-tools  ros-${ROS_DISTRO}-velodyne ros-${ROS_DISTRO}-rmw-cyclonedds-cpp ros-${ROS_DISTRO}-point-cloud-transport ros-${ROS_DISTRO}-robot-localization libturbojpeg"
+ARG PKGS_SIM="gz-harmonic"
+
+# ZED SDK args
+ARG ZED_SDK_URL="https://download.stereolabs.com/zedsdk/5.0/cu12/ubuntu22"
+ARG PKGS_ZED_SDK="zstd less cmake gnupg2 build-essential python3 python3-pip python3-dev python3-setuptools python3-wheel libusb-1.0-0-dev libgeographic-dev libdraco-dev zlib1g-dev lsb-release udev build-essential libpq-dev usbutils"
+ARG PKGS_PIP_ZED_SDK="cython numpy opencv-python-headless protobuf"
+
+###########
+# BUILDER #
+###########
+# The goal of this image is to build the following images:
+# - osrf/vrx (2.4.1)
+# - sterolabs/zed-ros2-wrapper
+FROM ros:${ROS_DISTRO}-ros-base AS builder
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Redeclare global args
+ARG PKGS_BASE 
+ARG PKGS_SIM
+ARG PKGS_ZED_SDK
+ARG PKGS_PIP_ZED_SDK
+ARG BOAT_WS
+ARG ZED_SDK_URL
+ARG ROS_DISTRO 
+
+RUN apt-get update -y && apt-get install -y --no-install-recommends \
+  ${PKGS_BASE} && \
+  apt-get clean && rm -rf /var/lib/apt/lists/*
 
-# Setup Workspace
-ENV BOAT_WS="${HOME}/roboboat_ws"
-RUN mkdir -p "${BOAT_WS}/src"
+# Install the ZED SDK
+# RUN echo "[INFO] ZED SDK link: $ZED_SDK_URL" && \
+#   if [ "$(curl -L -I "${ZED_SDK_URL}" -o /dev/null -s -w '%{http_code}\n' | head -n 1)" = "200" ]; then \
+#   echo "[OKAY] ZedSDK URL exists"; \
+#   else \
+#   echo "[ERROR] ZedSDK URL does not point to a .run file or the file does not exist."; \
+#   exit 1; \
+#   fi; \
+#   wget -q -O ZED_SDK_Linux_Ubuntu.run ${ZED_SDK_URL} && \
+#   chmod +x ZED_SDK_Linux_Ubuntu.run && \
+#   ./ZED_SDK_Linux_Ubuntu.run -- silent skip_tools skip_cuda && \
+#   ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so && \
+#   rm ZED_SDK_Linux_Ubuntu.run && \
+#   rm -rf /var/lib/apt/lists/*
+
+# Install Gazebo Harmonic, dependency for osrf/vrx
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
+  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
+  apt-get update -y && apt-get install -y --no-install-recommends ${PKGS_SIM}
 
-# Install base packages
-RUN apt-get update && apt-get -y --no-install-recommends install \
-  cmake wget curl git lsb-release build-essential \
-  gnupg software-properties-common \
-  && apt-get clean && rm -rf /var/lib/apt/lists/*
-
-# [INFO] Install the default Gazebo pairing with the ROS2 distribution
-RUN add-apt-repository -y universe && \
-  apt-get update && apt-get -y --no-install-recommends install \
-  ros-${ROS_DISTRO}-ros-gz \
-  ros-${ROS_DISTRO}-xacro \
-  ros-${ROS_DISTRO}-image-transport \
-  python3-colcon-common-extensions \
-  && apt-get clean && rm -rf /var/lib/apt/lists/*
-
-# [TODO] Add ZED SDK support
-# [INFO] Build the VRX simulation and ZED ROS2 Wrapper packages
 ARG VRX_REPO='osrf/vrx'
 ARG VRX_BRANCH='v3.0.4'
-# ARG ZED_REPO='stereolabs/zed-ros2-wrapper'
-# ARG ZED_BRANCH='humble-v5.0.0'
-WORKDIR ${BOAT_WS}/src
-RUN git clone --progress --verbose --recursive --depth 1 --branch ${VRX_BRANCH} https://github.com/${VRX_REPO}.git && \
+ARG ZED_REPO='stereolabs/zed-ros2-wrapper'
+ARG ZED_BRANCH='humble-v5.0.0'
+RUN /bin/bash -c "mkdir -p "${BOAT_WS}/src" && cd "${BOAT_WS}/src" && \
+  apt-get update -y && \
+  ls -la /opt/ros/${ROS_DISTRO} && source /opt/ros/${ROS_DISTRO}/setup.bash && \
+  git clone --progress --verbose --recursive --depth 1 --branch ${VRX_BRANCH} https://github.com/${VRX_REPO}.git && \
   # git clone --progress --verbose --recursive --depth 1 --branch ${ZED_BRANCH} https://github.com/${ZED_REPO}.git && \
-  cd ${BOAT_WS} && source /opt/ros/${ROS_DISTRO}/setup.bash && \
-  colcon build --merge-install --parallel-workers $(nproc) --cmake-args=-DCMAKE_BUILD_TYPE=Release --base-paths src && \
-  apt-get clean && rm -rf /var/lib/apt/lists/*
+  cd ${BOAT_WS} && \
+  rosdep update && rosdep install --from-paths src --ignore-src -r -y && \
+  colcon build --parallel-workers $(nproc) --merge-install \
+  --event-handlers console_direct+ --base-paths src"
+# These are for ZED SDK
+# --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
+# ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
+# ' -DCMAKE_CXX_FLAGS=\"-Wl,--allow-shlib-undefined\"'"
 
-##############
-# BASE IMAGE #
-##############
-FROM ros:${ROS_DISTRO}-ros-core AS base
-SHELL ["/bin/bash", "-c"]
+#####################
+# DEVELOPMENT IMAGE #
+#####################
+FROM ros:${ROS_DISTRO}-ros-core AS development
 
 RUN sed -i 's,http://[^ ]*archive\.ubuntu\.com/ubuntu,mirror://mirrors.ubuntu.com/mirrors.txt,g' /etc/apt/sources.list
 
 # Setup Environment
-ENV USER='root'
-ENV HOME="/${USER}"
-ENV BOAT_WS="${HOME}/roboboat_ws"
+ARG PKGS_BASE 
+ARG PKGS_SIM
+ARG BOAT_WS
+ARG ROS_DISTRO 
+ARG USER="root"
+ARG HOME="/${USER}"
+
+ENV USER=${USER}
+ENV HOME=${HOME}
+ENV BOAT_WS=${BOAT_WS}
 RUN mkdir -p ${BOAT_WS}
 
 ## .bashrc
@@ -67,53 +99,24 @@ COPY .config/.bash.d ${HOME}/.bash.d
 
 # Install common packges
 RUN apt-get update && apt-get -y --no-install-recommends install \
-  software-properties-common apt-utils wget curl libturbojpeg\
-  python3-minimal python-is-python3 python3-pip python3-vcstool \
-  python3-colcon-common-extensions \
-  ros-${ROS_DISTRO}-point-cloud-transport \
-  ros-${ROS_DISTRO}-robot-localization \
-  ros-${ROS_DISTRO}-velodyne \
-  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
+  ${PKGS_BASE} ${PKGS_DEV} && \
   apt-get clean && rm -rf /var/lib/apt/lists/*
 
-## ROS2
+# Set the RMW implementation to CycloneDDS
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
-
 # Copy files from the builder
 COPY --from=builder ${BOAT_WS}/install ${BOAT_WS}/install
 # Add ROS2-Specific configurations to `.bashrc`
-RUN echo "source ${BOAT_WS}/install/setup.bash" >> ${HOME}/.bashrc && \
-  echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ${HOME}/.bashrc && \
-  echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ${HOME}/.bashrc && \
-  echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ${HOME}/.bashrc && \
-  echo "export _colcon_cd_root=/opt/ros/${ROS_DISTRO}/" >> ${HOME}/.bashrc && \
-  echo "cd ${BOAT_WS}" >> ${HOME}/.bashrc
+RUN /bin/bash -c "\
+  echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> ${HOME}/.bashrc; \
+  echo 'source ${BOAT_WS}/install/setup.bash' >> ${HOME}/.bashrc; \
+  echo 'source /usr/share/colcon_cd/function/colcon_cd.sh' >> ${HOME}/.bashrc; \
+  echo 'source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash' >> ${HOME}/.bashrc; \
+  echo 'export _colcon_cd_root=/opt/ros/${ROS_DISTRO}/' >> ${HOME}/.bashrc; \
+  echo 'cd ${BOAT_WS}' >> ${HOME}/.bashrc"
 
 # Set Entrypoint Script
 COPY ./Docker/entrypoint.sh ${HOME}
 RUN chmod +x ${HOME}/entrypoint.sh
 ENTRYPOINT "${HOME}/entrypoint.sh" 
-
-#####################
-# DEVELOPMENT IMAGE #
-#####################
-FROM base AS development
-
-# Install Dependencies
-RUN apt-get update && apt-get -y --no-install-recommends install \
-  net-tools iputils-ping ros-dev-tools \ 
-  ros-${ROS_DISTRO}-ros-gz \
-  && \
-  apt-get clean && rm -rf /var/lib/apt/lists/*
-
-#################
-# RELEASE IMAGE #
-#################
-FROM base AS release
-
-WORKDIR ${BOAT_WS}/src
-COPY ./src/roboboat2025_ros2 .
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
-  colcon build --parallel-workers $(nproc) --merge-install --base-paths src && \
-  apt-get clean && rm -rf /var/lib/apt/lists/*
diff --git a/docker-compose.yml b/docker-compose.yml
index 46ac823..a5e408b 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -19,6 +19,9 @@ services:
       context: .
       dockerfile: Docker/Dockerfile
       target: development
+      platforms:
+        - 'linux/amd64'
+        - 'linux/arm64'
     # Interactive shell
     tty: True
     stdin_open: True
@@ -27,7 +30,7 @@ services:
     network_mode: host
     ipc: host
     # NVidia Runtime
-    runtime: nvidia
+    # runtime: nvidia
     environment:
       # Needed to define a TurtleBot3 model type
       - TURTLEBOT3_MODEL=burger
@@ -57,31 +60,34 @@ services:
     tty: False
     stdin_open: False
     command: ros2 doctor
-  release:
-    image: utdrobosub/roboboat-2025:release
-    build:
-      context: .
-      dockerfile: Docker/Dockerfile
-      target: release
-    # Interactive shell
-    tty: True
-    stdin_open: True
-    privileged: True
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
-    # NVidia Runtime
-    runtime: nvidia
-    environment:
-      # Needed to define a TurtleBot3 model type
-      - TURTLEBOT3_MODEL=burger
-      # Allows graphical programs in the container.
-      - DISPLAY=${DISPLAY}
-      - QT_X11_NO_MITSHM=1
-      - NVIDIA_DRIVER_CAPABILITIES=all
-    # Devices:
-    device_cgroup_rules:
-      - "c 189:* rmw"
-    volumes:
-      # Access to all Host Devices
-      - /dev:/dev
+  # release:
+  #   image: utdrobosub/roboboat-2025:release
+  #   build:
+  #     context: .
+  #     dockerfile: Docker/Dockerfile
+  #     target: release
+  #     platforms:
+  #       - 'linux/amd64'
+  #       - 'linux/arm64'
+  #   # Interactive shell
+  #   tty: True
+  #   stdin_open: True
+  #   privileged: True
+  #   # Networking and IPC for ROS 2
+  #   network_mode: host
+  #   ipc: host
+  #   # NVidia Runtime
+  #   runtime: nvidia
+  #   environment:
+  #     # Needed to define a TurtleBot3 model type
+  #     - TURTLEBOT3_MODEL=burger
+  #     # Allows graphical programs in the container.
+  #     - DISPLAY=${DISPLAY}
+  #     - QT_X11_NO_MITSHM=1
+  #     - NVIDIA_DRIVER_CAPABILITIES=all
+  #   # Devices:
+  #   device_cgroup_rules:
+  #     - "c 189:* rmw"
+  #   volumes:
+  #     # Access to all Host Devices
+  #     - /dev:/dev

From 7049603001d1c7736c105473a4a66705827fdd3b Mon Sep 17 00:00:00 2001
From: samminhch <45446622+samminhch@users.noreply.github.com>
Date: Thu, 2 Oct 2025 10:41:29 -0500
Subject: [PATCH 07/11] fix(workflow): install ros-humble-ros-gzharmonic

---
 Docker/Dockerfile     | 15 +++++++++------
 docker-compose.yml    |  4 ++--
 src/roboboat2025_ros2 |  2 +-
 3 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/Docker/Dockerfile b/Docker/Dockerfile
index 1e37b88..02e32eb 100644
--- a/Docker/Dockerfile
+++ b/Docker/Dockerfile
@@ -6,7 +6,7 @@ ARG BOAT_WS="${HOME}/roboboat_ws"
 
 ARG PKGS_BASE="git wget curl jq"
 ARG PKGS_DEV="software-properties-common apt-utils python3-minimal python-is-python3 python3-pip python3-vcstool python3-colcon-common-extensions net-tools iputils-ping ros-dev-tools  ros-${ROS_DISTRO}-velodyne ros-${ROS_DISTRO}-rmw-cyclonedds-cpp ros-${ROS_DISTRO}-point-cloud-transport ros-${ROS_DISTRO}-robot-localization libturbojpeg"
-ARG PKGS_SIM="gz-harmonic"
+ARG PKGS_SIM="ros-${ROS_DISTRO}-ros-gzharmonic gz-harmonic"
 
 # ZED SDK args
 ARG ZED_SDK_URL="https://download.stereolabs.com/zedsdk/5.0/cu12/ubuntu22"
@@ -53,7 +53,8 @@ RUN apt-get update -y && apt-get install -y --no-install-recommends \
 # Install Gazebo Harmonic, dependency for osrf/vrx
 RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
-  apt-get update -y && apt-get install -y --no-install-recommends ${PKGS_SIM}
+  apt-get update -y && apt-get install -y --no-install-recommends ${PKGS_SIM} \
+  && apt-get clean && rm -rf /var/lib/apt/lists/*
 
 ARG VRX_REPO='osrf/vrx'
 ARG VRX_BRANCH='v3.0.4'
@@ -83,6 +84,7 @@ RUN sed -i 's,http://[^ ]*archive\.ubuntu\.com/ubuntu,mirror://mirrors.ubuntu.co
 # Setup Environment
 ARG PKGS_BASE 
 ARG PKGS_SIM
+ARG PKGS_DEV
 ARG BOAT_WS
 ARG ROS_DISTRO 
 ARG USER="root"
@@ -97,10 +99,11 @@ RUN mkdir -p ${BOAT_WS}
 COPY .config/.bashrc ${HOME}/.bashrc
 COPY .config/.bash.d ${HOME}/.bash.d
 
-# Install common packges
-RUN apt-get update && apt-get -y --no-install-recommends install \
-  ${PKGS_BASE} ${PKGS_DEV} && \
-  apt-get clean && rm -rf /var/lib/apt/lists/*
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
+  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
+  apt-get update -y && apt-get install -y --no-install-recommends \
+  ${PKGS_BASE} ${PKGS_DEV} ${PKGS_SIM} \
+  && apt-get clean && rm -rf /var/lib/apt/lists/*
 
 # Set the RMW implementation to CycloneDDS
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
diff --git a/docker-compose.yml b/docker-compose.yml
index a5e408b..8ac709c 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -37,7 +37,7 @@ services:
       # Allows graphical programs in the container.
       - DISPLAY=${DISPLAY}
       - QT_X11_NO_MITSHM=1
-      - NVIDIA_DRIVER_CAPABILITIES=all
+      # - NVIDIA_DRIVER_CAPABILITIES=all
     # Devices:
     device_cgroup_rules:
       - "c 189:* rmw"
@@ -54,7 +54,7 @@ services:
     extends: development
     tty: False
     stdin_open: False
-    command: ros2 launch vrx_gz competition.launch.py
+    command: ros2 launch vrx_gz vrx_environment.launch.py world:=nbpark
   healthcheck:
     extends: development
     tty: False
diff --git a/src/roboboat2025_ros2 b/src/roboboat2025_ros2
index 79b7ea5..b4b0653 160000
--- a/src/roboboat2025_ros2
+++ b/src/roboboat2025_ros2
@@ -1 +1 @@
-Subproject commit 79b7ea5e48acc26d288f947742c2ff13d12b2fca
+Subproject commit b4b0653fe72d2029410cfe44e0f26e7a9b336039

From d3548a7a6568012fff73cee1376471e87e2570eb Mon Sep 17 00:00:00 2001
From: JMANY42 <2187.j.man@gmail.com>
Date: Thu, 2 Oct 2025 20:33:37 -0500
Subject: [PATCH 08/11] fixed gz-harmonic

---
 Docker/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Docker/Dockerfile b/Docker/Dockerfile
index 02e32eb..b9faa10 100644
--- a/Docker/Dockerfile
+++ b/Docker/Dockerfile
@@ -6,7 +6,7 @@ ARG BOAT_WS="${HOME}/roboboat_ws"
 
 ARG PKGS_BASE="git wget curl jq"
 ARG PKGS_DEV="software-properties-common apt-utils python3-minimal python-is-python3 python3-pip python3-vcstool python3-colcon-common-extensions net-tools iputils-ping ros-dev-tools  ros-${ROS_DISTRO}-velodyne ros-${ROS_DISTRO}-rmw-cyclonedds-cpp ros-${ROS_DISTRO}-point-cloud-transport ros-${ROS_DISTRO}-robot-localization libturbojpeg"
-ARG PKGS_SIM="ros-${ROS_DISTRO}-ros-gzharmonic gz-harmonic"
+ARG PKGS_SIM="ros-${ROS_DISTRO}-ros-gz gz-harmonic"
 
 # ZED SDK args
 ARG ZED_SDK_URL="https://download.stereolabs.com/zedsdk/5.0/cu12/ubuntu22"

From 3426a7179a412e4751451549bff47bd3ef5147a4 Mon Sep 17 00:00:00 2001
From: JMANY42 <2187.j.man@gmail.com>
Date: Thu, 2 Oct 2025 20:43:51 -0500
Subject: [PATCH 09/11] changed sim launch world to include boat

---
 docker-compose.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docker-compose.yml b/docker-compose.yml
index 8ac709c..2af13f4 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -54,7 +54,7 @@ services:
     extends: development
     tty: False
     stdin_open: False
-    command: ros2 launch vrx_gz vrx_environment.launch.py world:=nbpark
+    command: ros2 launch vrx_gz competition.launch.py 
   healthcheck:
     extends: development
     tty: False

From 469a93bf51c16ffe91780baf065c070266602ce2 Mon Sep 17 00:00:00 2001
From: JMANY42 <2187.j.man@gmail.com>
Date: Thu, 2 Oct 2025 21:08:34 -0500
Subject: [PATCH 10/11] removed roboboat2025_ros2 submodule

---
 docker-compose.yml    | 2 +-
 src/roboboat2025_ros2 | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)
 delete mode 160000 src/roboboat2025_ros2

diff --git a/docker-compose.yml b/docker-compose.yml
index 2af13f4..cbb50b7 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -49,7 +49,7 @@ services:
       - /dev:/dev
       # Share config / src Directories
       - ./.config:/root/.config
-      - ./src/roboboat2025_ros2:/root/roboboat_ws/src/roboboat2025_ros2
+      # - ./src/roboboat2025_ros2:/root/roboboat_ws/src/roboboat2025_ros2
   sim:
     extends: development
     tty: False
diff --git a/src/roboboat2025_ros2 b/src/roboboat2025_ros2
deleted file mode 160000
index b4b0653..0000000
--- a/src/roboboat2025_ros2
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit b4b0653fe72d2029410cfe44e0f26e7a9b336039

From 1884bfdf0f2d850aaaaf7442e805fef5f5820b5a Mon Sep 17 00:00:00 2001
From: JMANY42 <2187.j.man@gmail.com>
Date: Fri, 3 Oct 2025 13:47:09 -0500
Subject: [PATCH 11/11] removed all refrenes to removed submodule

---
 .gitmodules | 3 ---
 1 file changed, 3 deletions(-)
 delete mode 100644 .gitmodules

diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index a4fa479..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,3 +0,0 @@
-[submodule "src/roboboat2025_ros2"]
-	path = src/roboboat2025_ros2
-	url = https://github.com/ROboSub-UTD/roboboat2025_ros2