Merge branch 'master' into noblefixes

docker/Dockerfile

@@ -10,10 +10,15 @@ USER root
 # Install
 RUN apt update \
   && apt upgrade -y \
-  && apt install -y cmake curl git python3 python3-distutils python3-pip liboctomap-dev \
-  && python3 -m pip install vcstool -q \
-  && python3 -m pip install colcon-common-extensions -q \
-  && python3 -m pip install rosdep -q \
+  && apt install -y cmake curl git python3 liboctomap-dev
+
+# Add ROS2 sources to install ROS infrastructure tools
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# Install and configure ROS infrastructure tools
+RUN apt update \
+  && apt install -y python3-vcstool python3-colcon-common-extensions python3-rosdep \
   && rosdep init \
   && rosdep update