Remove source packages where binary packages work. For some reason th…

…e urdf parser needs to be rebuilt here.

.devcontainer/Dockerfile

@@ -29,7 +29,7 @@ RUN apt-get update -y \
     && curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
     && echo "deb [arch=amd64,arm64 signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
     && apt-get update -y \
-    && apt-get install -y gz-harmonic
+    && apt-get install -y gz-harmonic ros-humble-ros-gzharmonic
 
 # Initialize rosdep 
 RUN sudo rosdep init 
@@ -47,7 +47,8 @@ RUN groupadd --gid $USER_GID $USERNAME \
 # Extra packages as needed 
 RUN apt install -y libgz-sim8-dev rapidjson-dev libopencv-dev libgstreamer1.0-dev \
     libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl \
-    ros-humble-tinyxml2-vendor default-jre python3-pexpect python3-future mesa-utils strace
+    ros-humble-tinyxml2-vendor default-jre python3-pexpect python3-future mesa-utils strace \
+    ros-humble-micro-ros-msgs
 
 # [Optional] Set the default user. Omit if you want to keep the default as root.
 USER $USERNAME

.gitmodules

@@ -18,15 +18,7 @@
 	path = src/micro_ros_agent
 	url = https://github.com/micro-ROS/micro-ROS-Agent.git
 	branch = humble
-[submodule "src/ros_gz"]
-	path = src/ros_gz
-	url = https://github.com/gazebosim/ros_gz.git
-	branch = humble
 [submodule "src/sdformat_urdf"]
 	path = src/sdformat_urdf
 	url = https://github.com/ros/sdformat_urdf.git
 	branch = humble
-[submodule "src/micro_ros_msgs"]
-	path = src/micro_ros_msgs
-	url = https://github.com/micro-ROS/micro_ros_msgs.git
-	branch = humble

README.md

@@ -28,7 +28,7 @@ Here are some steps to test your repository. These steps work on my setup at hom
 1. Build the software in your dev container: 
 
     ```
-    colcon build 
+    make
     ```
 
 1. Source the `setup.bash` file after the build is complete.

makefile

@@ -2,7 +2,7 @@
 all: colcon-build 
 
 colcon-build:
-	colcon build 
+	colcon build --allow-overriding sdformat_urdf
 
 clean:
 	rm -rf build/ log/ install/