Remove sim.sh, insert contents into .bashrc in Dockerfile (Robotic-Decision-Making-Lab#227)

* GZ_VERSION is set in the Dockerfile, don't override in sim.sh

* Remove sim.sh, insert into .bashrc in Dockerfile

* Remove dead code in Dockerfile

* Use intermediate variable for location of BLUE_DESCRIPTION files.

---------

Co-authored-by: Aaron Marburg <amarburg@uw.edu>

Author: amarburg

.docker/Dockerfile

@@ -230,7 +230,27 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
     && colcon build
 
 # Setup the simulation environment variables
-RUN echo "source ${USER_WORKSPACE}/src/blue/.docker/entrypoints/sim.sh" >> /home/$USERNAME/.bashrc
+RUN  <<EOT cat >> /home/$USERNAME/.bashrc
+
+# Add results of ArduSub build
+export PATH=\$HOME/ardupilot/build/sitl/bin:\$PATH
+
+# Optional: add autotest to the PATH, helpful for running sim_vehicle.py
+export PATH=\$HOME/ardupilot/Tools/autotest:\$PATH
+
+# Add ardupilot_gazebo plugin
+export GZ_SIM_SYSTEM_PLUGIN_PATH=\$HOME/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
+
+# Add ardupilot_gazebo models and worlds
+export GZ_SIM_RESOURCE_PATH=\$HOME/ardupilot_gazebo/models:\$HOME/ardupilot_gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
+
+# Add blue models and worlds
+BLUE_DESCRIPTION=\$USER_WORKSPACE/src/blue/blue_description
+export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/gazebo/models:\$BLUE_DESCRIPTION/gazebo/worlds:\$GZ_SIM_RESOURCE_PATH
+
+# Add blue meshes
+export GZ_SIM_RESOURCE_PATH=\$BLUE_DESCRIPTION/meshes:\$GZ_SIM_RESOURCE_PATH
+EOT
 
 FROM desktop AS desktop-nvidia