Migrate to a new physical robot

Uses the mecanum controller properly across physical and virtual
There is a timing issue with i2c which is why the control update is limited to 10hz
The sonar and LED's arent yet working, this will come soon.

.devcontainer/Dockerfile

@@ -1,4 +1,5 @@
-FROM ros:kilted
+# FROM ros:kilted
+FROM osrf/ros:kilted-desktop-full
 ARG USERNAME=USERNAME
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
@@ -8,7 +9,7 @@ RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
 
 # Create the user
 RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME -s /bin/bash \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
     #
     # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
     && apt-get update \
@@ -18,25 +19,26 @@ RUN groupadd --gid $USER_GID $USERNAME \
 RUN apt-get update && apt-get upgrade -y
 
 # C++ development tools
-RUN apt-get update && apt-get install -y \
+RUN apt-get install -y \
     build-essential \
     cmake \
     gdb \
     clang \
     clang-format \
     clang-tidy \
-    libboost-all-dev
+    libboost-all-dev \
+    xterm
 
 # Python development tools
-RUN apt-get update && apt-get install -y \
+RUN apt-get install -y \
     python3-pip \
-    python3-venv \
     python3-dev \
     python3-argcomplete \
     python3-colcon-common-extensions \
     python3-colcon-mixin \
     python3-rosdep \
-    python3-vcstool
+    python3-vcstool \
+    python3-smbus
 
 # ROS 2 ament build tools
 # RUN apt-get install -y \
@@ -46,51 +48,6 @@ RUN apt-get update && apt-get install -y \
 #     ros-${ROS_DISTRO}-ament-lint-auto \
 #     ros-${ROS_DISTRO}-ament-lint-common
 
-# URDF / xacro tooling — needed to generate flat URDF for IDE preview
-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
-
-# Python venv for webui backend (isolated from system packages)
-RUN python3 -m venv /opt/webui-venv \
-    && /opt/webui-venv/bin/pip install --no-cache-dir \
-        fastapi \
-        "uvicorn[standard]" \
-        numpy
-
-# Docker CLI for accessing the host daemon via the mounted socket
-# docker-compose-plugin is only in Docker's official repo, not Ubuntu's.
-# .docker_gid is written by initializeCommand on the host before the build,
-# ensuring the in-container docker group GID matches the host socket GID.
-COPY .docker_gid /tmp/.docker_gid
-RUN apt-get update && apt-get install -y ca-certificates curl gnupg \
-    && install -m 0755 -d /etc/apt/keyrings \
-    && curl -fsSL https://download.docker.com/linux/ubuntu/gpg | gpg --dearmor -o /etc/apt/keyrings/docker.gpg \
-    && chmod a+r /etc/apt/keyrings/docker.gpg \
-    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo "$VERSION_CODENAME") stable" \
-       > /etc/apt/sources.list.d/docker.list \
-    && apt-get update && apt-get install -y docker-ce-cli docker-compose-plugin \
-    && groupadd -g "$(cat /tmp/.docker_gid)" docker \
-    && usermod -aG docker $USERNAME
-
 ENV SHELL /bin/bash
 
 # ********************************************************