Add variable to control git ref of rmw_zenoh and upgrade to rmw_zenoh 1.0.0

.gitlab-ci/docker-ros.yml

@@ -29,6 +29,7 @@ variables:
   ENABLE_SINGLEARCH_PUSH:     'false'                                 # Enable push of single arch images with [-amd64|-arm64] postfix
   ENABLE_PUSH_AS_LATEST:      'false'                                 # Push images with tag `latest`/`latest-dev` in addition to the configured image names
   RMW_IMPLEMENTATION:         'rmw_cyclonedds_cpp'                    # RMW implementation to use (only for ROS 2)
+  RMW_ZENOH_GIT_REF:          '28d917e0532fed6e9703f044662298f2b3553716'  # Git ref of rmw_zenoh repo to build if `RMW_IMPLEMENTATION=rmw_zenoh_cpp`
   ROS_DISTRO:                 ''                                      # ROS Distro (required if ROS is not installed in `base-image`)
   DISABLE_ROS_INSTALLATION:   'false'                                 # Disable automatic installation of `ros-$ROS_DISTRO-ros-core` package, e.g., if ROS is already installed in `base-image` and package is not available for the OS
   GIT_HTTPS_SERVER:           ${CI_SERVER_HOST}                       # Server URL (without protocol) for cloning private Git repositories via HTTPS

README.md

@@ -466,6 +466,9 @@ The password of the custom user is set to its username (`dockeruser:dockeruser`
   ROS 2 middleware implementation  
   *default:* `rmw_cyclonedds_cpp`  
   *supported values:* `rmw_zenoh_cpp`, `rmw_fastrtps_cpp`, `rmw_cyclonedds_cpp`, `rmw_gurumdds_cpp`, ...  
+- **`rmw-zenoh-git-ref` | `RMW_ZENOH_GIT_REF`**  
+  Git ref of rmw_zenoh repo to build if `RMW_IMPLEMENTATION=rmw_zenoh_cpp`  
+  *default:* `28d917e0532fed6e9703f044662298f2b3553716`  
 - **`ros-distro` | `ROS_DISTRO`**  
   ROS Distro  
   *required if ROS is not installed in `base-image`*  

action.yml

@@ -62,6 +62,10 @@ inputs:
     description: "RMW implementation to use (only for ROS 2)"
     default: rmw_cyclonedds_cpp
 
+  rmw-implementation:
+    description: "Git ref of rmw_zenoh repo to build if `RMW_IMPLEMENTATION=rmw_zenoh_cpp`"
+    default: 28d917e0532fed6e9703f044662298f2b3553716
+
   ros-distro:
     description: "ROS Distro (required if ROS is not installed in `base-image`)"
 
@@ -232,6 +236,7 @@ runs:
         ENABLE_SLIM: ${{ inputs.enable-slim }}
         SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
+        RMW_ZENOH_GIT_REF: ${{ inputs.rmw-zenoh-git-ref }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
         DISABLE_ROS_INSTALLATION: ${{ inputs.disable-ros-installation }}
         GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
@@ -295,6 +300,7 @@ runs:
         SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
+        RMW_ZENOH_GIT_REF: ${{ inputs.rmw-zenoh-git-ref }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
         DISABLE_ROS_INSTALLATION: ${{ inputs.disable-ros-installation }}
         GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
@@ -336,6 +342,7 @@ runs:
         SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
+        RMW_ZENOH_GIT_REF: ${{ inputs.rmw-zenoh-git-ref }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
         DISABLE_ROS_INSTALLATION: ${{ inputs.disable-ros-installation }}
         GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}

docker/Dockerfile

@@ -222,12 +222,19 @@ RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
 # install desired ROS 2 middleware
 ARG RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"
 ENV RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}
+ARG RMW_ZENOH_GIT_REF="28d917e0532fed6e9703f044662298f2b3553716"
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
     if [[ "$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 && \
+        cd /opt/ws_rmw_zenoh/src/rmw_zenoh && \
+        git checkout ${RMW_ZENOH_GIT_REF} && \
+        cd - && \
         if [[ "$(lsb_release -r | awk '{print $2}')" == "22.04" ]]; then \
-            git clone https://github.com/eProsima/Fast-CDR.git /opt/ws_rmw_zenoh/src/Fast-CDR ; \
+            git clone https://github.com/eProsima/Fast-CDR.git /opt/ws_rmw_zenoh/src/Fast-CDR && \
+            cd /opt/ws_rmw_zenoh/src/Fast-CDR && \
+            git checkout 2.2.x && \
+            cd - ; \
         fi && \
         rosdep init || true && \
         rosdep update --rosdistro $ROS_DISTRO && \

scripts/build.sh

@@ -18,6 +18,7 @@ build_image() {
         --build-arg BASE_IMAGE="${BASE_IMAGE}" \
         --build-arg COMMAND="${COMMAND}" \
         $(if [[ -n "${RMW_IMPLEMENTATION}" ]]; then echo "--build-arg RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}"; fi) \
+        $(if [[ -n "${RMW_ZENOH_GIT_REF}" ]]; then echo "--build-arg RMW_ZENOH_GIT_REF=${RMW_ZENOH_GIT_REF}"; fi) \
         $(if [[ -n "${ROS_DISTRO}" ]]; then echo "--build-arg ROS_DISTRO=${ROS_DISTRO}"; fi) \
         $(if [[ -n "${DISABLE_ROS_INSTALLATION}" ]]; then echo "--build-arg DISABLE_ROS_INSTALLATION=${DISABLE_ROS_INSTALLATION}"; fi) \
         $(if [[ -n "${GIT_HTTPS_SERVER}" ]]; then echo "--build-arg GIT_HTTPS_SERVER=${GIT_HTTPS_SERVER}"; fi) \

scripts/ci.sh

@@ -26,6 +26,7 @@ ENABLE_SLIM="${ENABLE_SLIM:-true}"
 SLIM_BUILD_ARGS="${SLIM_BUILD_ARGS:-'--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'}"
 ENABLE_SINGLEARCH_PUSH="${ENABLE_SINGLEARCH_PUSH:-false}"
 RMW_IMPLEMENTATION="${RMW_IMPLEMENTATION:-}"
+RMW_ZENOH_GIT_REF="${RMW_ZENOH_GIT_REF:-}"
 ROS_DISTRO="${ROS_DISTRO:-}"
 DISABLE_ROS_INSTALLATION="${DISABLE_ROS_INSTALLATION:-}"
 GIT_HTTPS_SERVER="${GIT_HTTPS_SERVER:-}"