Update build to account for upstream deprecations

.devcontainer/Dockerfile

@@ -0,0 +1,81 @@
+ARG ROS_DISTRO=rolling
+FROM ros:$ROS_DISTRO-ros-base AS desktop
+
+ENV DEBIAN_FRONTEND=noninteractive
+WORKDIR /root/ws_ros
+
+ENV PROJECT_NAME=waterlinked_dvl
+
+COPY . src/$PROJECT_NAME
+
+# Install apt packages
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && apt-get -q install --no-install-recommends -y \
+    git \
+    sudo \
+    clang \
+    python3-pip \
+    python3-dev \
+    python3-venv \
+    apt-utils \
+    software-properties-common \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Configure the ubuntu non-root user
+ARG USERNAME=ubuntu
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && usermod -a -G dialout $USERNAME \
+    && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
+
+# Switch to the ubuntu user
+USER $USERNAME
+ENV USER=$USERNAME
+
+ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
+WORKDIR $USER_WORKSPACE
+
+COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
+
+# Create a new virtual environment for Python
+ENV VIRTUAL_ENV=$USER_WORKSPACE/.venv/$PROJECT_NAME
+RUN python3 -m venv --system-site-packages $VIRTUAL_ENV \
+    && echo "source ${VIRTUAL_ENV}/bin/activate" >> /home/$USERNAME/.bashrc \
+    && touch .venv/COLCON_IGNORE \
+    && echo "\n# Ensure colcon is run in the venv\nalias colcon='python3 -m colcon'" >> /home/$USERNAME/.bashrc
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
+# Install all ROS dependencies
+RUN vcs import src < src/$PROJECT_NAME/ros2.repos
+WORKDIR $USER_WORKSPACE
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys nlohmann_json \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
+    && colcon build \
+    && echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
+    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
+
+# Install debugging/linting C++ packages
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && sudo apt-get install -y \
+    clang-format-18 \
+    clang-tidy \
+    clang-tools \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+WORKDIR $USER_WORKSPACE

.devcontainer/nouveau/devcontainer.json → .devcontainer/devcontainer.json

@@ -1,7 +1,7 @@
 {
   "name": "ROS 2 Dev Container",
   "dockerFile": "Dockerfile",
-  "context": "../..",
+  "context": "..",
   "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_ros/src/waterlinked_dvl,type=bind",
   "workspaceFolder": "/home/ubuntu/ws_ros/src/waterlinked_dvl",
   "remoteUser": "ubuntu",
@@ -11,15 +11,8 @@
     "--security-opt=seccomp:unconfined",
     "--security-opt=apparmor:unconfined",
     "--volume=/dev:/dev",
-    "--privileged",
-    "--volume=/run/user/1000:/run/user/1000"
+    "--privileged"
   ],
-  "containerEnv": {
-    "DISPLAY": "${localEnv:DISPLAY}",
-    "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
-    "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
-    "PULSE_SERVER": "${localEnv:PULSE_SERVER}"
-  },
   "customizations": {
     "vscode": {
       "extensions": [

.docker/Dockerfile

@@ -67,6 +67,9 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
     && echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
     && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
 
+# Install Python dependencies
+RUN python3 -m pip install pre-commit
+
 WORKDIR $USER_WORKSPACE
 
 FROM desktop AS desktop-nvidia

.github/workflows/ci.yml

@@ -10,7 +10,7 @@ on:
 jobs:
   pre-commit:
     name: CI
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:

libwaterlinked/package.xml

@@ -20,6 +20,9 @@
   <depend>eigen</depend>
   <depend>nlohmann_json</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_gmock</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>