From 7d8b3cbfca040ae85f5605f2ace95ea7dae4a9b3 Mon Sep 17 00:00:00 2001
From: Mike Matera <michael.matera@cabrillo.edu>
Date: Thu, 10 Oct 2024 10:17:43 -0700
Subject: [PATCH] Remove source packages where binary packages work. For some
 reason the urdf parser needs to be rebuilt here.

---
 .devcontainer/Dockerfile | 5 +++--
 .gitmodules              | 8 --------
 README.md                | 2 +-
 makefile                 | 2 +-
 src/micro_ros_msgs       | 1 -
 src/ros_gz               | 1 -
 6 files changed, 5 insertions(+), 14 deletions(-)
 delete mode 160000 src/micro_ros_msgs
 delete mode 160000 src/ros_gz

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 60db628..986f8be 100644
--- a/.devcontainer/Dockerfile
+++ b/.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
diff --git a/.gitmodules b/.gitmodules
index 4c85d62..fb2552e 100644
--- a/.gitmodules
+++ b/.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
diff --git a/README.md b/README.md
index 5fd33fd..2436479 100644
--- a/README.md
+++ b/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.
diff --git a/makefile b/makefile
index 4666011..34f142d 100644
--- a/makefile
+++ b/makefile
@@ -2,7 +2,7 @@
 all: colcon-build 
 
 colcon-build:
-	colcon build 
+	colcon build --allow-overriding sdformat_urdf
 	
 clean:
 	rm -rf build/ log/ install/
diff --git a/src/micro_ros_msgs b/src/micro_ros_msgs
deleted file mode 160000
index 10be4d0..0000000
--- a/src/micro_ros_msgs
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 10be4d005fbc7d8dd60dbb213b65f4171419bfe9
diff --git a/src/ros_gz b/src/ros_gz
deleted file mode 160000
index 5cc92f8..0000000
--- a/src/ros_gz
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 5cc92f804739b8b72f71aa2551a4be893d74efc0