Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Support usage of rmw_zenoh #34

Merged
merged 8 commits into from
Oct 25, 2024
Merged

Support usage of rmw_zenoh #34

Show file tree
Hide file tree
Changes from 5 commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
d492233
support usage of rmw_zenoh
jpbusch Oct 22, 2024
92c94f6
fix some warnings
jpbusch Oct 22, 2024
30b1a3d
update readme
jpbusch Oct 23, 2024
aa26a12
already build rmw_zenoh in dependecies-install stage
jpbusch Oct 23, 2024
4ec60af
source rmw_zenoh before building ws
jpbusch Oct 23, 2024
cd936d1
build rmw_zenoh into `/opt/ros/<distro>`
jpbusch Oct 23, 2024
3864662
Revert "build rmw_zenoh into `/opt/ros/<distro>`"
jpbusch Oct 25, 2024
c6d4087
add sourcing of rmw_zenoh into entrypoint
jpbusch Oct 25, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -453,7 +453,7 @@ The password of the custom user is set to its username (`dockeruser:dockeruser`
- **`rmw-implementation` | `RMW_IMPLEMENTATION`**
ROS 2 middleware implementation
*default:* `rmw_cyclonedds_cpp`
*supported values:* `rmw_fastrtps_cpp`, `rmw_cyclonedds_cpp`, `rmw_gurumdds_cpp`, ...
*supported values:* `rmw_zenoh_cpp`, `rmw_fastrtps_cpp`, `rmw_cyclonedds_cpp`, `rmw_gurumdds_cpp`, ...
- **`ros-distro` | `ROS_DISTRO`**
ROS Distro
*required if ROS is not installed in `base-image`*
Expand Down
25 changes: 19 additions & 6 deletions docker/Dockerfile
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
ARG BASE_IMAGE

############ dependencies ######################################################
FROM ${BASE_IMAGE} as dependencies
FROM ${BASE_IMAGE} AS dependencies

USER root
SHELL ["/bin/bash", "-c"]
Expand Down Expand Up @@ -214,7 +214,19 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
ARG RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
ENV RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}
RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
if [[ "$ROS_VERSION" == "2" ]]; then \
if [[ "$RMW_IMPLEMENTATION" == "rmw_zenoh_cpp" ]]; then \
mkdir -p /opt/ws_rmw_zenoh/src && \
git clone https://github.com/ros2/rmw_zenoh.git /opt/ws_rmw_zenoh/src/rmw_zenoh && \
rosdep init || true && \
rosdep update --rosdistro $ROS_DISTRO && \
apt-get update && \
cd /opt/ws_rmw_zenoh && \
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO && \
rm -rf /var/lib/apt/lists/* && \
source /opt/ros/${ROS_DISTRO}/setup.bash && \
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
lreiher marked this conversation as resolved.
Show resolved Hide resolved
echo "source /opt/ws_rmw_zenoh/install/setup.bash" >> ~/.bashrc ; \
elif [[ "$ROS_VERSION" == "2" ]]; then \
apt-get update && \
RMW_PACKAGE=ros-$ROS_DISTRO-$(echo $RMW_IMPLEMENTATION | tr '_' '-') && \
apt-get install -y $RMW_PACKAGE && \
Expand All @@ -225,34 +237,35 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc

# set entrypoint
ENV TINI_VERSION v0.19.0
ENV TINI_VERSION=v0.19.0
ADD https://github.com/krallin/tini/releases/download/${TINI_VERSION}/tini-${TARGETARCH} /tini
RUN chmod +x /tini
COPY docker/docker-ros/docker/entrypoint.sh /
ENTRYPOINT ["/tini", "--", "/entrypoint.sh"]

############ dev ###############################################################
FROM dependencies-install as dev
FROM dependencies-install AS dev

# copy contents of repository from dependencies stage
COPY --from=dependencies $WORKSPACE/src $WORKSPACE/src

CMD ["bash"]

############ build #############################################################
FROM dev as build
FROM dev AS build

# build ROS workspace
RUN if [[ -x "$(command -v colcon)" ]]; then \
source /opt/ros/${ROS_DISTRO}/setup.bash && \
[[ -f /opt/ws_rmw_zenoh/install/setup.bash ]] && source /opt/ws_rmw_zenoh/install/setup.bash ; \
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release ; \
elif [[ -x "$(command -v catkin)" ]]; then \
catkin config --install --extend /opt/ros/${ROS_DISTRO} && \
catkin build -DCMAKE_BUILD_TYPE=Release --force-color --no-status --summarize ; \
fi

############ run ###############################################################
FROM dependencies-install as run
FROM dependencies-install AS run

# copy ROS install space from build stage
COPY --from=build $WORKSPACE/install install
Expand Down