Migrate LIMO simulation to Gazebo Fortress#20
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This pull request introduces several improvements to the development container and simulation environment, with a focus on ensuring compatibility with Gazebo Fortress and improving the ROS package setup process. The most important changes include updating the base image, adding robust runtime validation, and refining the handling of camera topics in simulation code.
Development container and runtime validation:
.devcontainer/Dockerfileto use thelcas/limo_platform:2.2base image, ensuring compatibility with the expected Gazebo Fortress environment..devcontainer/validate_fortress_runtime.sh, which verifies that the runtime environment provides Gazebo Fortress (Gazebo Sim 6) and required ROS packages and plugins. This script is executed during container setup to prevent misconfiguration. [1] [2].devcontainer/devcontainer.jsonand.devcontainer/post-create.shto ensure post-create scripts are run from the correct workspace directory and that runtime validation is always performed. [1] [2] [3]Simulation and package documentation:
USAGE.mdthatlimo_descriptionandlimo_gazebosimoverlays insrc/are the authoritative Gazebo Fortress versions, and explained the image's approach to ROS–Gazebo dependencies. [1] [2]Simulation code improvements:
detector_3d.pyto handle camera info topics correctly: the depth camera info subscription is now conditional on whether the code is running on a real robot, and the aspect ratio logic is adjusted for simulation where RGBD images are aligned. [1] [2] [3] [4]