Slim sim build system and remove ORB-SLAM/Kalibr

.dockerignore

@@ -41,6 +41,14 @@ src/neural_depth/
 src/neural_depth_ros2/
 src/rviz_plugin_zed_od/
 src/zed*/
+src/orb_slam3_ros2/
+tools/kalibr/
+vendor/ORB_SLAM3/
+vendor/zed-ros-interfaces/
+vendor/zed-ros2-examples/
+vendor/depth_anything_v2/
+vendor/joystick_drivers/
+external/
 
 # Compiled files
 compile_commands.json

.github/workflows/headless-simulation.yml

@@ -38,16 +38,13 @@ jobs:
           --name headless-test \
           rumarino-headless:latest \
           bash -c "
-            source /opt/ros/jazzy/setup.bash && \
+            source /opt/ros/humble/setup.bash && \
             source /ros2_ws/install/setup.bash && \
             ros2 launch bringup stonefish.launch.py \
               mission_name:=prequalify \
               auv_name:=hydrus \
               env_file_name:=hydrus_env_headless.scn \
-              headless:=true \
-              fast_fixed_step:=true \
-              use_sim_time_stamps:=true \
-              realtime_factor_cap:=5.0 &
+              headless:=true &
             LAUNCH_PID=\$! && \
             sleep 15 && \
             kill \$LAUNCH_PID 2>/dev/null || true

.gitignore

@@ -7,6 +7,9 @@ log
 debug
 target
 
+# Local benchmark output
+build_benchmark.log
+
 # These are backup files generated by rustfmt
 **/*.rs.bk
 
@@ -26,4 +29,9 @@ src/bringup/launch/depth_with_simulator.launch.py
 __pycache__/
 *.pyc
 
+# Removed / local-only vision tooling
+vendor/ORB_SLAM3/
+vendor/stonefish/build/
+vendor/stonefish/3rdparty/SDL2/
+
 

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "vendor/stonefish"]
 	path = vendor/stonefish
-	url = https://github.com/patrykcieslak/stonefish.git
+	url = https://github.com/Rumarino-Team/stonefish.git
 [submodule "vendor/stonefish_ros2"]
 	path = vendor/stonefish_ros2
 	url = https://github.com/Rumarino-Team/stonefish_ros2.git
@@ -10,10 +10,6 @@
 [submodule "vendor/depth_anything_v2"]
 	path = vendor/depth_anything_v2
 	url = https://github.com/DepthAnything/Depth-Anything-V2.git
-[submodule "vendor/vectornav"]
-	path = vendor/vectornav
-	url = https://github.com/dawonn/vectornav.git
-	branch = ros2
 [submodule "vendor/joystick_drivers"]
 	path = vendor/joystick_drivers
 	url = https://github.com/ros-drivers/joystick_drivers.git

Dockerfile

@@ -1,110 +1,78 @@
-FROM ros:jazzy-ros-base
+# syntax=docker/dockerfile:1
+FROM ros:humble-ros-base
 
-# Install dependencies matching README Ubuntu instructions
 RUN apt-get update && apt-get install -y \
     python3 \
     python3-pip \
-    python3-venv \
     build-essential \
     curl \
     cmake \
     git \
-    # Clang/LLVM (required for Rust ROS 2 bindings)
+    pkg-config \
     libclang-dev \
     llvm-dev \
     clang \
-    # ROS 2 build tools
     python3-colcon-common-extensions \
     python3-rosdep \
-    # ROS 2 packages needed by stonefish_ros2
-    ros-jazzy-vision-msgs \
-    ros-jazzy-image-transport \
-    ros-jazzy-pcl-conversions \
-    ros-jazzy-pcl-ros \
-    # Stonefish dependencies (from README)
+    ros-humble-vision-msgs \
+    ros-humble-image-transport \
+    ros-humble-pcl-conversions \
+    ros-humble-visualization-msgs \
     libfreetype6-dev \
     libsdl2-dev \
     libglm-dev \
     libeigen3-dev \
-    libogre-1.9-dev \
-    libopencv-dev \
-    libssl-dev \
-    libboost-all-dev \
-    libepoxy-dev \
     libtinyxml2-dev \
-    ros-jazzy-visualization-msgs \
+    libgl1-mesa-dev \
     && rm -rf /var/lib/apt/lists/*
 
-# Install Rust
 RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
 ENV PATH="/root/.cargo/bin:${PATH}"
 ENV CARGO_TARGET_DIR=/ros2_ws/target
 
-# Create workspace
 WORKDIR /ros2_ws
-COPY vendor/stonefish ./vendor/stonefish
-
-# Build Stonefish library
-RUN cd vendor/stonefish && \
-    mkdir -p build && cd build && \
-    cmake .. && \
-    make -j$(nproc) && \
-    make install && \
-    ldconfig
 
-# Copy only package.xml files for dependency caching
+# Stonefish + package manifests (layer cache)
+COPY vendor/stonefish ./vendor/stonefish
 COPY src/interfaces/package.xml ./src/interfaces/package.xml
 COPY src/bringup/package.xml ./src/bringup/package.xml
 COPY src/bridge_stonefish/package.xml ./src/bridge_stonefish/package.xml
 COPY src/mission_executor/package.xml ./src/mission_executor/package.xml
 COPY src/detection_mocker/package.xml ./src/detection_mocker/package.xml
 COPY vendor/stonefish_ros2/package.xml ./src/stonefish_ros2/package.xml
 
-RUN rosdep init || true && \
-    rosdep update
+RUN rosdep init || true && rosdep update
 
-RUN bash -c "source /opt/ros/jazzy/setup.bash && \
-    rosdep install --from-paths src --ignore-src -r -y || true"
+RUN bash -c "source /opt/ros/humble/setup.bash && \
+    rosdep install --from-paths src vendor/stonefish --ignore-src -r -y || true"
 
-# build interfaces first
 COPY src/interfaces ./src/interfaces
-RUN bash -lc "source /opt/ros/jazzy/setup.bash && \
-    colcon build --packages-select interfaces --cmake-args -DCMAKE_BUILD_TYPE=Release"
+RUN bash -lc "source /opt/ros/humble/setup.bash && \
+    colcon build --packages-select Stonefish interfaces \
+    --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
-# copy mission_executor files except actual src/mission_executor/src/*
 COPY Cargo.toml Cargo.lock ./
 COPY src/mission_executor/Cargo.toml ./src/mission_executor/Cargo.toml
 COPY src/mission_executor/CMakeLists.txt ./src/mission_executor/CMakeLists.txt
+RUN mkdir -p src/mission_executor/src && printf "fn main() {}" > src/mission_executor/src/main.rs
 
-# add dummy main.rs to src/mission_executor/src/ so cargo allows building mission_executor
-RUN mkdir -p src/mission_executor/src && \ 
-    printf "fn main() {}" > src/mission_executor/src/main.rs
-
-# fetch and build dependencies for mission_executor
-RUN bash -lc "source /opt/ros/jazzy/setup.bash && \
-    source install/setup.bash && \
-    colcon build --packages-select mission_executor --cmake-args -DCMAKE_BUILD_TYPE=Release"
+RUN bash -lc "source /opt/ros/humble/setup.bash && source install/setup.bash && \
+    colcon build --packages-select mission_executor \
+    --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
 COPY src/bringup ./src/bringup
 COPY src/bridge_stonefish ./src/bridge_stonefish
 COPY src/detection_mocker ./src/detection_mocker
 COPY vendor/stonefish_ros2 ./src/stonefish_ros2
 
-# build ROS 2 workspace except interfaces and mission_executor
-RUN bash -c "source /opt/ros/jazzy/setup.bash && \
-    colcon build \
-    --packages-select stonefish_ros2 bridge_stonefish bringup detection_mocker \
+RUN bash -c "source /opt/ros/humble/setup.bash && source install/setup.bash && \
+    colcon build --packages-select stonefish_ros2 bridge_stonefish bringup detection_mocker \
     --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
-# build mission_executor with actual source code
 COPY src/mission_executor/src ./src/mission_executor/src
 RUN ln -sf /ros2_ws/src/mission_executor/target /ros2_ws/target && \
-    bash -c "source /opt/ros/jazzy/setup.bash && \
-    source install/setup.bash && \
-    colcon build \
-    --packages-select mission_executor \
+    bash -c "source /opt/ros/humble/setup.bash && source install/setup.bash && \
+    colcon build --packages-select mission_executor \
     --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
-# Set environment variables
 ENV ROS_DOMAIN_ID=0
-