Workaround for gazebo v11 no-support

.circleci/config.yml

@@ -74,6 +74,10 @@ references:
                 rosdep install -q -y \
                   --from-paths src \
                   --ignore-src \
+                  --skip-keys " \
+                    gazebo11 \
+                    libgazebo11-dev \
+                  " \
                   --verbose | \
                 awk '$1 ~ /^resolution\:/' | \
                 awk -F'[][]' '{print $2}' | \

Dockerfile

@@ -40,16 +40,28 @@ RUN apt-get update && apt-get install -q -y \
       lcov \
     && rm -rf /var/lib/apt/lists/*
 
-# copy underlay manifests
-ENV UNDERLAY_WS /opt/underlay_ws
-COPY --from=cache /tmp/underlay_ws $UNDERLAY_WS
-WORKDIR $UNDERLAY_WS
+# TODO: clean up once libgazebo11-dev released into ros2 repo
+# https://github.com/ros-infrastructure/reprepro-updater/pull/75
+# https://github.com/ros/rosdistro/pull/24646
+# setup keys
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+# setup sources.list
+RUN . /etc/os-release \
+    && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
+# install gazebo packages
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+      libgazebo11-dev \
+    && rm -rf /var/lib/apt/lists/*
 
 # install underlay dependencies
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
       --ignore-src \
+      --skip-keys " \
+        gazebo11 \
+        libgazebo11-dev \
+      " \
     && rm -rf /var/lib/apt/lists/*
 
 # copy underlay source
@@ -79,6 +91,10 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
       --ignore-src \
+      --skip-keys " \
+        gazebo11 \
+        libgazebo11-dev \
+      " \
     && rm -rf /var/lib/apt/lists/*
 
 # copy overlay source

tools/ros2_dependencies.repos

@@ -10,7 +10,7 @@ repositories:
   gazebo_ros_pkgs:
     type: git
     url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
-    version: ros2
+    version: gazebo11_foxy
   image_common:
     type: git
     url: https://github.com/ros-perception/image_common.git