feat(simulation): add Worker AI polygon runtime and terrain navigation

simulation/ai-polygon/navigation/Dockerfile

@@ -0,0 +1,34 @@
+FROM ros:humble-ros-base-jammy
+
+LABEL com.nodedc.product="mission-core" \
+      com.nodedc.stack="ai-polygon" \
+      com.nodedc.role="terrain-navigation" \
+      com.nodedc.managed-by="ai-polygon-worker" \
+      org.opencontainers.image.source="https://github.com/HongbiaoZ/autonomous_exploration_development_environment" \
+      org.opencontainers.image.revision="158e67b31b644ed1e8b06eb1d7f70e183cc62591"
+
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      curl ca-certificates build-essential python3-numpy python3-yaml \
+      python3-colcon-common-extensions ros-humble-pcl-ros \
+      ros-humble-pcl-conversions ros-humble-tf2-geometry-msgs \
+      ros-humble-sensor-msgs-py ros-humble-rclpy \
+    && rm -rf /var/lib/apt/lists/*
+
+# Upstream's terrain analysis and collision-free motion primitives are unchanged.
+# Keep the exact sources and their declared BSD package licenses in the image.
+WORKDIR /opt/cmu
+RUN curl -fL --retry 3 \
+      https://codeload.github.com/HongbiaoZ/autonomous_exploration_development_environment/tar.gz/158e67b31b644ed1e8b06eb1d7f70e183cc62591 \
+      -o /tmp/upstream.tgz \
+    && mkdir upstream src \
+    && tar -xzf /tmp/upstream.tgz -C upstream --strip-components=1 \
+    && cp -a upstream/src/local_planner upstream/src/terrain_analysis src/ \
+    && source /opt/ros/humble/setup.bash \
+    && MAKEFLAGS=-j2 colcon build --base-paths src --parallel-workers 1 \
+      --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && rm /tmp/upstream.tgz
+
+ENV ROS_LOCALHOST_ONLY=1 ROS_DOMAIN_ID=83
+WORKDIR /adapter
+ENTRYPOINT ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /opt/cmu/install/setup.bash && exec python3 /adapter/navigation/server.py"]