diff --git a/.devcontainer/robot/Dockerfile b/.devcontainer/robot/Dockerfile
new file mode 100644
index 00000000..f10cb1e8
--- /dev/null
+++ b/.devcontainer/robot/Dockerfile
@@ -0,0 +1,31 @@
+#
+# Dockerfile for *-robot development container
+#
+ARG BLUE_GITHUB_REPO=Robotic-Decision-Making-Lab/blue
+ARG ROS_DISTRO=rolling
+FROM ${BLUE_GITHUB_REPO}:${ROS_DISTRO}-robot
+
+# Install ROS dependencies
+# This is done in a previous stage, but we include it again here in case anyone wants to
+# add new dependencies during development
+ENV USERNAME=blue
+ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
+WORKDIR $USER_WORKSPACE
+
+COPY --chown=$USER_UID:$USER_GID . src/blue
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# Install debugging/linting Python packages
+RUN python3 -m pip install \
+    pre-commit \
+    mypy
+
+# Disable the setuputils installation warning
+# This prevents us from needing to pin the setuputils version (which doesn't always work)
+ENV PYTHONWARNINGS="ignore"
diff --git a/.devcontainer/robot/devcontainer.json b/.devcontainer/robot/devcontainer.json
new file mode 100644
index 00000000..d57e5f09
--- /dev/null
+++ b/.devcontainer/robot/devcontainer.json
@@ -0,0 +1,40 @@
+{
+  "name": "Robot Dev Container",
+  "build": {
+    "dockerfile": "Dockerfile",
+    "context": "../..",
+    "args": {
+      "BLUE_GITHUB_REPO": "ghcr.io/robotic-decision-making-lab/blue",
+      "ROS_DISTRO": "rolling"
+    }
+  },
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
+  "workspaceFolder": "/home/blue/ws_blue/src/blue",
+  "remoteUser": "blue",
+  "runArgs": [
+    "--network=host",
+    "--cap-add=SYS_PTRACE",
+    "--security-opt=seccomp:unconfined",
+    "--security-opt=apparmor:unconfined",
+    "--volume=/dev:/dev",
+    "--privileged",
+    "--volume=/run/user/1000:/run/user/1000"
+  ],
+  "containerEnv": {},
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-azuretools.vscode-docker",
+        "ms-python.python",
+        "njpwerner.autodocstring",
+        "redhat.vscode-xml",
+        "redhat.vscode-yaml",
+        "smilerobotics.urdf",
+        "esbenp.prettier-vscode",
+        "charliermarsh.ruff",
+        "josetr.cmake-language-support-vscode",
+        "unifiedjs.vscode-mdx"
+      ]
+    }
+  }
+}
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index c5982eab..b309cdd2 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -26,7 +26,8 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-# Install all ROS dependencies
+# Install all ROS dependencies for _just_ blue
+# (we have not imported other repos from .repos files)
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
     && rosdep update \
@@ -36,6 +37,14 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
+# This stage includes
+#   - Switching to the non-root user
+#   - Copying 'blue' source from this repo into the non-root user's workspace
+#   - Installing blue deps using pip, apt and rosdep
+#   - Installs the remaining blue dependencies from blue_robot.repos
+#   - Installs deps from rosdep for all src dependencies
+#   - colcon build
+#
 FROM ci AS robot
 
 # Configure a new non-root user
@@ -88,14 +97,20 @@ RUN sudo apt-get -q update \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
+WORKDIR $USER_WORKSPACE
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
+    && vcs import src < src/blue/blue.repos \
     && rosdep update \
     && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Actually build workspace
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
+    && colcon build
+
 RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
     && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc
 
@@ -161,7 +176,7 @@ RUN [ "/bin/bash" , "-c" , " \
 WORKDIR $USER_WORKSPACE
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
-    && vcs import src < src/blue/blue.repos \
+    && vcs import src < src/blue/sim.repos \
     && rosdep update \
     && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
     && sudo apt-get autoremove -y \
diff --git a/.docker/compose/robot.yaml b/.docker/compose/robot.yaml
new file mode 100644
index 00000000..faf1be02
--- /dev/null
+++ b/.docker/compose/robot.yaml
@@ -0,0 +1,21 @@
+services:
+  blue:
+    image: ghcr.io/robotic-decision-making-lab/blue:rolling-robot
+    build:
+      dockerfile: .docker/Dockerfile
+      target: robot
+      context: ../../
+    network_mode: host
+    privileged: true
+    cap_add:
+      - SYS_PTRACE
+    security_opt:
+      - seccomp:unconfined
+      - apparmor:unconfined
+    volumes:
+      - /dev:/dev
+      - /run/user/1000:/run/user/1000
+      - type: bind
+        source: ../../
+        target: /home/blue/ws_blue/src/blue
+    command: tail -f /dev/null
diff --git a/.dockerignore b/.dockerignore
index 211fad8d..ae633710 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -7,5 +7,6 @@
 !blue_description
 !blue_demos
 !blue.repos
+!sim.repos
 !.docker/entrypoints
 !requirements-build.txt
diff --git a/blue.repos b/blue.repos
index ca3abd91..20a32377 100644
--- a/blue.repos
+++ b/blue.repos
@@ -1,10 +1,5 @@
 repositories:
 
-  ros_gz:
-    type: git
-    url: https://github.com/gazebosim/ros_gz
-    version: ros2
-
   hydrodynamics:
     type: git
     url: https://github.com/Robotic-Decision-Making-Lab/hydrodynamics.git
diff --git a/sim.repos b/sim.repos
new file mode 100644
index 00000000..91c14acd
--- /dev/null
+++ b/sim.repos
@@ -0,0 +1,11 @@
+#
+# Note this is _in addition to_ blue.repos
+# (i.e. you need to vcs import both files independently)
+#
+repositories:
+
+  # ROS-Gazebo integration
+  ros_gz:
+    type: git
+    url: https://github.com/gazebosim/ros_gz
+    version: ros2