Warehouse sim running - but not yet working.

.devcontainer/Dockerfile

@@ -51,6 +51,20 @@ RUN apt-get update && apt-get install -y \
     ros-${ROS_DISTRO}-xacro \
     ros-${ROS_DISTRO}-robot-state-publisher
 
+# Gazebo Harmonic + ROS 2 integration
+RUN apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-ros-gz \
+    ros-${ROS_DISTRO}-gz-ros2-control
+
+# Navigation and SLAM
+RUN apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-nav2-bringup \
+    ros-${ROS_DISTRO}-slam-toolbox \
+    ros-${ROS_DISTRO}-joint-state-publisher \
+    ros-${ROS_DISTRO}-joint-state-broadcaster \
+    ros-${ROS_DISTRO}-joint-trajectory-controller \
+    ros-${ROS_DISTRO}-controller-manager
+
 # Node.js for frontend development
 RUN curl -fsSL https://deb.nodesource.com/setup_22.x | bash - \
     && apt-get install -y nodejs