So as it stands, the thing that is holding up desktop_full is indeed simulation. So I’ll talk about that.
In Rolling/Jazzy, we are switching the way that Gazebo packages are delivered. In particular, they are now “proper” ROS packages, released and built on the ROS buildfarm. You can see how this looks in rosdistro/rolling/distribution.yaml at 14b7539a0112dfb01a2496f4d54c76a8a45fe63d · ros/rosdistro · GitHub , where we have source entries for all of the packages. However, they have not all yet been released, so this is still in progress.
Once we have released everything, then we’ll need to update anything downstream that depends on them, including the variants simulation package. That should be coming in the next few weeks, hopefully.