update docker and fix depends

Dockerfile

@@ -2,26 +2,29 @@ FROM osrf/ros:humble-desktop
 
 ARG WSDIR=rbs_ws
 
-ENV RBS_ASSEMBLY_DIR=~/assembly
-ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_schunk_40_n_n_b/share/:~/${WSDIR}/install/rbs_simulation/share/rbs_simulation/
-
-WORKDIR /${WSDIR}
+ENV RBS_ASSEMBLY_DIR=/assembly
+ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_simulation/share/rbs_simulation/
 
 RUN apt update && apt install -y \ 
     git \
     python3-pip \ 
     lsb-release \
-    wget \ 
-    gnupg \
-    libgoogle-glog-dev
-
-RUN pip install vcstool && \
-    wget http://www.lua.org/ftp/lua-5.3.1.tar.gz &&\
-    tar zxf lua-5.3.1.tar.gz &&\
-    sudo make -C lua-5.3.1 linux && sudo make -C lua-5.3.1 install
+    wget \
+    gnupg
 
+RUN pip install vcstool
 
+WORKDIR /libs
+RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\
+    tar -xf v3.11.3.tar.gz &&\
+    cd json-3.11.3 &&\
+    mkdir build &&\
+    cd build &&\
+    cmake .. &&\
+    make &&\
+    make install
 
+WORKDIR /${WSDIR}
 #Install Gazebo Fortres
 RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg &&\
     "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null &&\
@@ -30,7 +33,6 @@ RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pk
 
 # Install RBS
 COPY . src/robossembler-ros2/
-RUN ls -la src/
 
 RUN vcs import src/. < src/robossembler-ros2/rbs.repos
 RUN apt update && \

rbs.repos

@@ -3,10 +3,10 @@ repositories:
     type: git
     url: https://github.com/solid-sinusoid/Universal_Robots_ROS2_Description.git
     version: cartesian-controllers
-  ur_moveit_config:
+  ur_driver:
     type: git
-    url: https://github.com/solid-sinusoid/ur_moveit_config.git
-    version: dev
+    url: https://github.com/solid-sinusoid/Universal_Robots_ROS2_Driver.git
+    version: configure-with-gripper
   behavior_tree:
     type: git
     url: https://github.com/solid-sinusoid/behavior_tree.git
@@ -14,7 +14,7 @@ repositories:
   rbs_schunk_40_n_n_b:
     type: git
     url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git
-    version: main
+    version: 2-add-ros2-control
   gz_ros2_control:
     type: git
     url: https://github.com/solid-sinusoid/gz_ros2_control.git

rbs_simulation/launch/simulation.launch.py

@@ -26,7 +26,7 @@ def generate_launch_description():
         DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("gazebo_gui", default_value="true", description="Launch env_manager?")
+        DeclareLaunchArgument("gazebo_gui", default_value="false", description="Launch env_manager?")
     )
     
     sim_gazebo = LaunchConfiguration("sim_gazebo")