Fix docker sim build

.github/workflows/build.yml

@@ -46,7 +46,7 @@ jobs:
       run: python3 tools/check_c_cpp_properties.py
 
   build_simulator:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
     - name: Install Arduino CLI
       uses: arduino/setup-arduino-cli@v1.1.1
@@ -63,6 +63,26 @@ jobs:
         path: gazebo/build/*.so
         retention-days: 1
 
+  build_simulator_docker:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:20.04
+    steps:
+    - name: Install Arduino CLI
+      uses: arduino/setup-arduino-cli@v1.1.1
+    - uses: actions/checkout@v4
+    - name: Install Gazebo
+      run: curl -sSL http://get.gazebosim.org | sh
+    - name: Install SDL2
+      run: apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install build-essential libsdl2-dev -y
+    - name: Build simulator
+      run: make build_simulator
+    - uses: actions/upload-artifact@v4
+      with:
+        name: gazebo-plugin-binary
+        path: gazebo/build/*.so
+        retention-days: 1
+
   build_simulator_macos:
     runs-on: macos-latest
     if: github.event_name == 'workflow_dispatch'