Inject custom vendor packages for Harmonic to avoid Python ABI problems

[j-rivero]

Closes: #839

To avoid the installation of the ros-jazzy-gz-*-vendor (being * the Gz packages with Python wrappers) / ros-jazzy-sdformat-vendor packages the PR does the following:

• The PR changes the Dockerfile.base not to be based in desktop-full but in ros-base
• Create a fake debian package that Provides: the vendor packages for the Gazebo libraries that have Python bindings. This way the .deb package dependency chain can continue working without the risk of installing the vendor packages and rosdep can still be used.
• To replace the real ROS Gazebo vendor packages "provided" by the fake .deb package, stablish a colcon workspace with a gz.repos file that builds from source the packages. The Gazebo vendor packages can use the system installation of Gazebo libraries if present so no real compilation is done and the .deb packages are being used.
• Inject for interactive and non-interactive logins the variables that allows the transparent interaction for the user sourcing the colcon workspace and making the gz tool from ROS to work also with system packages.

[caguero]

I was able to reproduce the issue by running:

rocker --devices /dev/input/js0 --x11 --nvidia --user --home ghcr.io/osrf/vrx-devel:latest /bin/bash

and then inside the container

sudo apt-get update
sudo apt-get upgrade

After compiling VRX, I hit the issue when launching VRX:

caguero@1f7431d4c4df:~/vrx_ws$ ros2 launch vrx_gz competition.launch.py
[INFO] [launch]: All log files can be found below /home/caguero/.ros/log/2025-07-17-22-06-38-861309-1f7431d4c4df-5099
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:
 - ImportError: /usr/lib/python3/dist-packages/sdformat14.cpython-312-x86_64-linux-gnu.so: undefined symbol: _ZNK3sdf3v144Cone14AxisAlignedBoxEv
 - InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown

Do you have some instructions to verify that this patch fixes the issue?

[j-rivero]

Do you have some instructions to verify that this patch fixes the issue?

Oh yes, sorry.

cd docker
docker-compose build base devel
rocker --devices /dev/input/js0 --x11 --nvidia --user --home vrx-devel:latest /bin/bash

Should leave you in the modified container.

[caguero]

It works for me now!