[Sim Theme E] ROS 2 integration for Gazebo (ros_gz)

[jmservera]

Implements Theme E of the Simulation & Visualization PRD (FR-E1..E6). Lane 2 (Gazebo backend) — coordinate with Theme F (both touch the Gazebo container). Co-located ros_gz_bridge, /clock default, discovery-server (no multicast), source ROS in entrypoint, drop ros-gz from the ros image. Plan: docs/plans/sim-theme-e-ros-integration.md. Draft.

[jmservera]

🤖 Automated PR review

ros_gz integration — adds ros_gz_bridge co-located with gz sim (bridge-only install, DDS client profile, /clock bridge config) and removes the redundant ros-gz from the ros image (FR-E6). Base: #27.

Findings

Severity	Location	Finding
🟢 Low	services/gazebo/entrypoint.sh	The bridge starts immediately after sourcing ROS; if it advertises before gz sim has created /clock, it relies on ros_gz_bridge reconnecting when the gz topic appears (it does — non-blocking). Worth a one-line note.
🟢 Low	services/gazebo/Dockerfile	Uses ${UBUNTU_CODENAME} here vs $VERSION_CODENAME in #21's simulator image; both valid on Ubuntu, but standardize one. Same armored-key-as-.gpg note as #21.

✅ Installing only ros-gz-bridge (not the full ros-gz metapackage) to keep a single Gazebo version is a good call and well-justified in the comments. Signal handling stays correct (trap + wait -n across all 3 PIDs). Clean FR-E6 cleanup of the ros image.

Recommendation: Approve.

[jmservera]

🤖 Automated line-anchored review — see the summary comment for the full findings table.

[Copilot]

Pull request overview

Adds Theme E (Gazebo backend lane) ROS 2 integration by co-locating ros_gz_bridge with gz sim inside the Gazebo container, using Fast DDS discovery-server (unicast) and a default /clock bridge mapping, while removing redundant ros-gz packages from the ROS core image.

Changes:

• Remove ros-${ROS_DISTRO}-ros-gz from the ROS core image and document the rationale.
• Install and launch ros_gz_bridge parameter_bridge inside the Gazebo container after sourcing ROS, using a YAML config for /clock.
• Add Fast DDS discovery client profile and wire FASTRTPS_DEFAULT_PROFILES_FILE into the Gazebo service environment.

Reviewed changes

Copilot reviewed 7 out of 7 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
services/ros/Dockerfile	Drops ros-gz from ROS core image and documents why the bridge lives with Gazebo.
services/gazebo/entrypoint.sh	Sources ROS and starts parameter_bridge alongside gz sim and websocket server; updates shutdown/wait logic.
services/gazebo/Dockerfile	Adds ROS 2 apt repo setup and installs ros-${ROS_DISTRO}-ros-gz-bridge; bundles DDS + bridge config files.
services/gazebo/config/ros_gz_bridge.yaml	Defines default /clock bridge mapping via parameter_bridge config file.
services/gazebo/config/dds_discovery.xml	Adds Fast DDS discovery-server client profile for unicast discovery.
docs/plans/sim-theme-e-ros-integration.md	Adds Theme E plan stub describing FR-E1..FR-E6 scope and acceptance notes.
compose.yaml	Ensures Gazebo container uses the DDS discovery XML profile via FASTRTPS_DEFAULT_PROFILES_FILE.

[Copilot]

Pull request overview

Copilot reviewed 7 out of 7 changed files in this pull request and generated 1 comment.

Comments suppressed due to low confidence (1)

services/gazebo/Dockerfile:55

• The ROS apt repository setup downloads a key without failing on HTTP errors and uses an http:// apt source. curl -sSL will succeed on a 404 and write an HTML error page into the keyring path, causing harder-to-debug apt failures later; and using HTTPS for the repo avoids downgrade/MITM risks on the transport layer.

RUN . /etc/os-release \
    && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
        -o /usr/share/keyrings/ros-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu ${UBUNTU_CODENAME} main" \
        > /etc/apt/sources.list.d/ros2.list \
    && apt-get update \
    && apt-get install -y --no-install-recommends \
        ros-${ROS_DISTRO}-ros-gz-bridge \
    && rm -rf /var/lib/apt/lists/*

[Copilot]

Pull request overview

Copilot reviewed 7 out of 7 changed files in this pull request and generated 2 comments.

Comments suppressed due to low confidence (1)

services/gazebo/config/dds_discovery.xml:7

• The comment says this file is “identical to services/ros/config/dds_discovery.xml”, but it isn’t identical (the header comments differ). This can be misleading when someone tries to diff/verify the copy.

  This is the Gazebo container's copy of the shared discovery-client profile
  (identical to services/ros/config/dds_discovery.xml). The ros_gz bridge that
  runs in this container joins the ROS graph through the central

[Copilot]

Pull request overview

Copilot reviewed 7 out of 7 changed files in this pull request and generated 3 comments.

[Copilot]

Pull request overview

Copilot reviewed 7 out of 7 changed files in this pull request and generated 1 comment.

[Copilot]

Pull request overview

Copilot reviewed 10 out of 10 changed files in this pull request and generated no new comments.