sitl: add Gazebo plant and smoke harness

tools/sitl/compose.yaml

@@ -0,0 +1,33 @@
+services:
+  gazebo-sitl:
+    build:
+      context: ../..
+      dockerfile: tools/sitl/Dockerfile
+    command: ["/opt/kaptan/sitl/gazebo-entrypoint.sh"]
+    depends_on:
+      sitl:
+        condition: service_started
+    environment:
+      HOME: /tmp
+    network_mode: host
+    read_only: true
+    tmpfs:
+      - /tmp:mode=1777,size=256m
+    cap_drop: ["ALL"]
+    security_opt: ["no-new-privileges:true"]
+    init: true
+    stop_grace_period: 5s
+
+  sitl:
+    build:
+      context: ../..
+      dockerfile: tools/sitl/Dockerfile
+    command: ["/usr/local/bin/kaptan-sitl", "serve"]
+    network_mode: host
+    read_only: true
+    tmpfs:
+      - /tmp:mode=1777,size=32m
+    cap_drop: ["ALL"]
+    security_opt: ["no-new-privileges:true"]
+    init: true
+    stop_grace_period: 2s