feat: Dockerized dev environment, Gazebo-MuJoCo co-simulation fixes, Nav2 stack repair, and rl_sar_zoo as submodule#1

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hugodidi wants to merge 19 commits intouleroboticsgroup:mainfrom

Commits on Mar 6, 2026

Commits on Mar 9, 2026

fix(gazebo_sync): refactor plugin to use gazebo_ros::Node, fix multithreading segfaults, and add sensor_msgs dependency
hugodidi
committed
fix(g1_description): adjust Gazebo plugin z_offset to -0.82 for correct ground alignment
hugodidi
committed
fix(rl_sar): fix joint state publishing logic and maintain hardware joint_mapping over policy mapping during locomotion
hugodidi
committed
fix(gazebo): set g1_29dof as default model for simulation launch and spawn
hugodidi
committed
build(docker): install Eclipse CycloneDDS to improve ROS2 network stability in simulation
hugodidi
committed
build(rl_sar): add sensor_msgs dependency and configure ROS2 node for joint_states publishing
hugodidi
committed

Commits on Mar 23, 2026

Commits on Mar 25, 2026