feat(simulation): drive stock rover through PX4 offboard

simulation/s1/worker-agent.sh

@@ -12,6 +12,8 @@ readonly SOURCE_ROOT="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/../.." && pwd -
 readonly MISSION_CORE_COMMIT="${1:-}"
 readonly SOCKET_ROOT="/run/missioncore-sim"
 readonly SOCKET_PATH="${SOCKET_ROOT}/worker.sock"
+readonly ROS_SETUP="/opt/ros/jazzy/setup.bash"
+readonly PX4_MSGS_SETUP="${D_ROOT}/build/ros2/px4_msgs/install/setup.bash"
 
 if [[ -z "${MISSION_CORE_COMMIT}" ]]; then
     echo "usage: $0 <exact-40-character-mission-core-commit>" >&2
@@ -51,9 +53,19 @@ if [[ "${EUID}" -eq 0 || "${WSL_DISTRO_NAME:-}" != "${EXPECTED_DISTRO}" ]]; then
     echo "error: worker agent escaped the reviewed worker identity" >&2
     exit 2
 fi
+if [[ ! -f "${ROS_SETUP}" || ! -f "${PX4_MSGS_SETUP}" ]]; then
+    echo "error: reviewed ROS 2 Jazzy/px4_msgs runtime is incomplete" >&2
+    exit 2
+fi
+
+# shellcheck disable=SC1091
+source "${ROS_SETUP}"
+# shellcheck disable=SC1091
+source "${PX4_MSGS_SETUP}"
 
 exec env \
-    PYTHONPATH="${SOURCE_ROOT}/src" \
+    ROS_DOMAIN_ID=0 \
+    PYTHONPATH="${SOURCE_ROOT}/src:${PYTHONPATH:-}" \
     python3 -m k1link.simulation.worker_agent \
     --socket "${SOCKET_PATH}" \
     --mission-core-commit "${MISSION_CORE_COMMIT}" \