feat: add cyclonedds to all images

EPFLXplore · Aug 31, 2024 · 2d04653 · 2d04653
1 parent 7df28ec
commit 2d04653
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Showing 17 changed files with 20 additions and 4,291 deletions.
diff --git a/.github/workflows/docker_ci.yml b/.github/workflows/docker_ci.yml
@@ -68,11 +68,6 @@ jobs:
             target: gazebo_nvidia
             tag: humble-jetson
             platform: linux/arm64
-          - dockerfile: ./docker_humble_jetson_torch/Dockerfile
-            context: ./docker_humble_jetson_torch
-            target: gazebo_nvidia
-            tag: humble-jetson-torch
-            platform: linux/arm64
 
     permissions:
       contents: read

diff --git a/docker_foxy_desktop/Dockerfile b/docker_foxy_desktop/Dockerfile
@@ -122,7 +122,8 @@ RUN /etc/init.d/udev restart
 RUN apt-get update && apt-get upgrade -y
 RUN apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-behaviortree-cpp-v3 \
-    ros-${ROS_DISTRO}-xacro
+    ros-${ROS_DISTRO}-xacro \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
 
 WORKDIR /home/$USERNAME
 
@@ -131,6 +132,9 @@ RUN usermod -aG dialout $USERNAME
 # Allow non-root user to access the video devices
 RUN usermod -aG video $USERNAME
 
+# Add RMW_IMPLEMENTATION to .bashrc
+RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /home/${USERNAME}/.bashrc
+
 # Clean up
 RUN rm -rf /var/lib/apt/lists/*
 

diff --git a/docker_foxy_jetson/Dockerfile b/docker_foxy_jetson/Dockerfile
@@ -116,7 +116,8 @@ RUN apt-get update && apt-get upgrade -y
 RUN apt-get purge -y '*opencv*'
 RUN apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-behaviortree-cpp-v3 \
-    ros-${ROS_DISTRO}-xacro
+    ros-${ROS_DISTRO}-xacro \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
 
 WORKDIR /home/$USERNAME
 
@@ -125,6 +126,9 @@ RUN usermod -aG dialout $USERNAME
 # Allow non-root user to access the video devices
 RUN usermod -aG video $USERNAME
 
+# Add RMW_IMPLEMENTATION to .bashrc
+RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /home/${USERNAME}/.bashrc
+
 # Clean up
 RUN rm -rf /var/lib/apt/lists/*
 

diff --git a/docker_humble_desktop/Dockerfile b/docker_humble_desktop/Dockerfile
@@ -122,7 +122,8 @@ RUN /etc/init.d/udev restart
 RUN apt-get update && apt-get upgrade -y
 RUN apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-behaviortree-cpp-v3 \
-    ros-${ROS_DISTRO}-xacro
+    ros-${ROS_DISTRO}-xacro \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
 
 WORKDIR /home/$USERNAME
 
@@ -131,6 +132,9 @@ RUN usermod -aG dialout $USERNAME
 # Allow non-root user to access the video devices
 RUN usermod -aG video $USERNAME
 
+# Add RMW_IMPLEMENTATION to .bashrc
+RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /home/${USERNAME}/.bashrc
+
 # Clean up
 RUN rm -rf /var/lib/apt/lists/*
 

diff --git a/docker_humble_jetson/Dockerfile b/docker_humble_jetson/Dockerfile
@@ -116,7 +116,8 @@ RUN apt-get update && apt-get upgrade -y
 RUN apt-get purge -y '*opencv*'
 RUN apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-behaviortree-cpp-v3 \
-    ros-${ROS_DISTRO}-xacro
+    ros-${ROS_DISTRO}-xacro \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
 
 WORKDIR /home/$USERNAME
 
@@ -125,6 +126,9 @@ RUN usermod -aG dialout $USERNAME
 # Allow non-root user to access the video devices
 RUN usermod -aG video $USERNAME
 
+# Add RMW_IMPLEMENTATION to .bashrc
+RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /home/${USERNAME}/.bashrc
+
 # Clean up
 RUN rm -rf /var/lib/apt/lists/*
 

diff --git a/docker_humble_jetson_torch/Dockerfile b/docker_humble_jetson_torch/Dockerfile