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

.gitignore

@@ -1,7 +1,7 @@
 # ROS2 / colcon build artifacts
 build/
 install/
-log/
+/log/
 
 # Python
 __pycache__/
@@ -28,3 +28,4 @@ venv/
 # Optional: datasets / results
 data/
 results/
+agent/

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "src/rl_sar/src/rl_sar_zoo"]
+	path = src/rl_sar/src/rl_sar_zoo
+	url = https://github.com/fan-ziqi/rl_sar_zoo.git

README.md

@@ -1,7 +1,7 @@
 # Navigation-Aware Hybrid Execution Stack for Unitree G1
 ## Hybrid Navigation + Locomotion (Gazebo/Nav2 + MuJoCo + Real)
 
-
+![rl_hnav](https://github.com/user-attachments/assets/e201be1d-0509-41c8-b2e2-554f1865761a)
 
 [![Ubuntu 22.04](https://img.shields.io/badge/Ubuntu-22.04-blue.svg?logo=ubuntu)](https://ubuntu.com/)
 [![macOS](https://img.shields.io/badge/macOS-Experimental-orange.svg?logo=apple)](https://www.apple.com/macos/)
@@ -249,7 +249,7 @@ ls -lah rl_hnav/src/rl_sar/library/mujoco/lib/libmujoco.so.3.2.7
 If your repo provides a helper script:
 
 ```bash
-bash rl_hnav/src/rl_sar/scripts/download_mujoco.sh
+bash rl_hnav/src/rl_sar/run/download_mujoco.sh
 ```
 
 ---
@@ -260,9 +260,37 @@ bash rl_hnav/src/rl_sar/scripts/download_mujoco.sh
 cd ~/
 git clone https://github.com/uleroboticsgroup/rl_hnav.git
 cd rl_hnav
+
 git submodule update --init --recursive
+touch src/rl_sar/src/rl_sar_zoo/COLCON_IGNORE
+
+# Create package.xml symlinks for ROS 2 (rl_sar uses package.ros2.xml)
+for d in src/rl_sar/src/robot_msgs src/rl_sar/src/robot_joint_controller src/rl_sar/src/rl_sar; do
+  ln -sf package.ros2.xml "$d/package.xml"
+done
+```
+
+---
+
+## Docker (optional)
+
+Build the image and start the container (requires NVIDIA GPU + `nvidia-container-toolkit`):
+
+```bash
+cd ~/rl_hnav
+xhost +local:docker # allow GUI forwarding
+docker compose -f docker/docker-compose.yml up -d
+```
+
+Enter the running container:
+
+```bash
+docker exec -it rl_hnav_container bash
 ```
 
+> Inside the container your workspace is mounted at `/home/developer/rl_hnav`.
+> All commands in the **Build** and **Run** sections below are meant to run **inside the container**.
+
 ---
 
 ## Build (ROS 2 friendly)

docker/Dockerfile

@@ -0,0 +1,74 @@
+# Use official ROS 2 Humble base image
+FROM osrf/ros:humble-desktop-full
+
+# Avoid interactive prompts
+ENV DEBIAN_FRONTEND=noninteractive
+
+# 1. Install system dependencies required for compilation and scripts
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    cmake \
+    git \
+    python3-pip \
+    python3-dev \
+    python3-numpy \
+    libtbb-dev \
+    libyaml-cpp-dev \
+    libglfw3-dev \
+    liblcm-dev \
+    pkg-config \
+    x11-apps \
+    mesa-utils \
+    libpython3-dev \
+    unzip \
+    wget \
+    sudo \
+    && rm -rf /var/lib/apt/lists/*
+
+# 2. Install ROS 2 dependencies
+RUN apt-get update && apt-get install -y \
+    ros-humble-navigation2 \
+    ros-humble-nav2-bringup \
+    ros-humble-rviz2 \
+    ros-humble-slam-toolbox \
+    ros-humble-robot-state-publisher \
+    ros-humble-joint-state-publisher-gui \
+    ros-humble-gazebo-ros-pkgs \
+    ros-humble-gazebo-msgs \
+    libgazebo-dev \
+    ros-humble-tf2-tools \
+    ros-humble-xacro \
+    ros-humble-control-toolbox \
+    ros-humble-realtime-tools \
+    ros-humble-joint-state-publisher \
+    ros-humble-hardware-interface \
+    ros-humble-controller-interface \
+    ros-humble-pluginlib \
+    ros-humble-urdf \
+    ros-humble-joint-state-broadcaster \
+    ros-humble-std-srvs \
+    ros-humble-ros2-controllers \
+    && rm -rf /var/lib/apt/lists/*
+
+# 3. Setup non-root user
+ARG USERNAME=developer
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# 4. Hardware acceleration and Display envs
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QT_X11_NO_MITSHM 1
+
+USER $USERNAME
+WORKDIR /home/$USERNAME
+
+# 5. Automatic sourcing
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+CMD ["/bin/bash"]

docker/docker-compose.yml

@@ -0,0 +1,26 @@
+services:
+  rl_hnav_dev:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+    container_name: rl_hnav_container
+    network_mode: host
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ..:/home/developer/rl_hnav:rw
+    stdin_open: true
+    tty: true
+    privileged: true
+    # NVIDIA GPU access
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [ gpu ]

maps/g1_map.yaml

@@ -0,0 +1,7 @@
+image: g1_map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-18.6, -15.3, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25