Migrate DAVE to ROS 2 Lyrical and Gazebo Jetty

.docker/lyrical.amd64.dockerfile

@@ -0,0 +1,60 @@
+ARG ROS_DISTRO="lyrical"
+FROM osrf/ros:${ROS_DISTRO}-desktop-full
+
+ARG ROS_DISTRO="lyrical"
+ENV ROS_DISTRO=${ROS_DISTRO}
+ENV DEBIAN_FRONTEND=noninteractive
+
+# The installer expects sudo even when the image build runs as root.
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo ca-certificates xz-utils && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install ROS 2 Lyrical, Gazebo Jetty, ArduSub, and MAVROS from this checkout.
+COPY extras /tmp/dave-extras
+RUN DAVE_EXTRAS_DIR=/tmp/dave-extras \
+    bash /tmp/dave-extras/ros-lyrical-gz-jetty-install.sh
+
+# Install QGroundControl.
+RUN mkdir -p /opt/QGC && cd /opt/QGC && \
+    wget -O QGroundControl-x86_64.AppImage \
+      "https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-x86_64.AppImage" && \
+    chmod +x QGroundControl-x86_64.AppImage && \
+    ./QGroundControl-x86_64.AppImage --appimage-extract && \
+    mv squashfs-root/* /opt/QGC/ && \
+    rm QGroundControl-x86_64.AppImage && \
+    ln -sf /opt/QGC/AppRun /usr/local/bin/qgroundcontrol
+
+# Install Firefox from Mozilla.
+RUN curl -L "https://download.mozilla.org/?product=firefox-latest-ssl&os=linux64&lang=en-US" \
+      -o /tmp/firefox.tar.xz && \
+    tar -xJf /tmp/firefox.tar.xz -C /opt && \
+    ln -sf /opt/firefox/firefox /usr/local/bin/firefox && \
+    rm -f /tmp/firefox.tar.xz
+
+# Build the exact DAVE revision supplied as the Docker build context. Import the
+# companion repositories, but never replace the checked-out DAVE source.
+ENV DAVE_WS=/opt/dave_ws
+WORKDIR $DAVE_WS/src
+COPY . dave
+RUN vcs import --shallow --skip-existing \
+      --input dave/extras/repos/dave.lyrical.repos
+
+RUN rosdep update --rosdistro "$ROS_DISTRO" && \
+    rosdep install --rosdistro "$ROS_DISTRO" -iy --from-paths . && \
+    rm -rf /var/lib/apt/lists/*
+
+WORKDIR $DAVE_WS
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
+    colcon build --merge-install --executor sequential --symlink-install
+
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
+    echo "source $DAVE_WS/install/setup.bash" >> /root/.bashrc && \
+    echo "export PS1='\[\e[1;36m\]\u@DAVE_docker\[\e[0m\]\[\e[1;34m\](\$(hostname | cut -c1-12))\[\e[0m\]:\[\e[1;34m\]\w\[\e[0m\]\$ '" >> /root/.bashrc
+
+RUN touch /root/.dave_entrypoint && \
+    printf '\033[1;36mDAVE underwater robotics simulation\033[0m\n' >> /root/.dave_entrypoint && \
+    printf '\033[1;33mROS 2 Lyrical · Gazebo Jetty · ArduSub · MAVROS\033[0m\n\n' >> /root/.dave_entrypoint && \
+    echo 'cat /root/.dave_entrypoint' >> /root/.bashrc
+
+WORKDIR /root