Feat/phase 40 sitl integration

.ci/gazebo.Dockerfile

@@ -1,18 +1,34 @@
 # .ci/gazebo.Dockerfile — SAKURA-II Gazebo Harmonic headless SITL image.
 #
+# Builds from ubuntu:22.04 + OSRF apt repository because
+# ghcr.io/gazebosim/gz-sim:harmonic requires authentication.
 # Runs gz sim in headless server mode (-s flag); no display required.
 # Simulation world SDF and plugins are mounted read-only from ./simulation.
 # No HPSC cross-toolchain (Q-H8 deferred to Phase C+).
 # No secrets embedded.
 
-FROM ghcr.io/gazebosim/gz-sim:harmonic
+FROM ubuntu:22.04
 
-USER root
+ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update -q && \
     apt-get install -y --no-install-recommends \
-        procps \
+        curl \
+        gnupg \
+        lsb-release \
         ca-certificates \
+        procps \
+    && rm -rf /var/lib/apt/lists/*
+
+# Add OSRF Gazebo Harmonic apt repository.
+RUN curl -fsSL https://packages.osrfoundation.org/gazebo.gpg \
+        -o /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
+        http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
+        > /etc/apt/sources.list.d/gazebo-stable.list && \
+    apt-get update -q && \
+    apt-get install -y --no-install-recommends \
+        gz-sim8 \
     && rm -rf /var/lib/apt/lists/*
 
 RUN mkdir -p /app/simulation

.gitignore

@@ -18,7 +18,6 @@ rust/_lint_probe/Cargo.lock
 
 # ─── C / CMake ────────────────────────────────────────────────────────────────
 build/
-build*/
 build_cov/
 *.o
 *.a