Use apt install for rmw zenoh

.gitlab-ci/docker-ros.yml

@@ -41,7 +41,6 @@ variables:
   REGISTRY_USER:              ${CI_REGISTRY_USER}                     # Docker registry username
   REGISTRY:                   ${CI_REGISTRY}                          # Docker registry to push images to
   RMW_IMPLEMENTATION:         'rmw_cyclonedds_cpp'                    # RMW implementation to use (only for ROS 2)
-  RMW_ZENOH_GIT_REF:          ''                                      # 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`)
   SLIM_BUILD_ARGS:            '--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'  # Arguments to `slim build` (except for `--target` and `--tag`)
   TARGET:                     run                                     # Target stage of Dockerfile (comma-separated list) [dev|run]
@@ -205,10 +204,6 @@ run-arm64:
       fi
     - git clone --branch master --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci
     - test -f ${BUILD_CONTEXT}/.repos || echo "repositories:" > ${BUILD_CONTEXT}/.repos
-    - |-
-      if [ "$RMW_IMPLEMENTATION" = "rmw_zenoh_cpp" ]; then
-        export UNDERLAY="/opt/ws_rmw_zenoh/install"
-      fi
   script: .industrial_ci/gitlab.sh
 
 Test dev-amd64:

README.md

@@ -469,9 +469,6 @@ 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:* `$ROS_DISTRO`  
 - **`ros-distro` | `ROS_DISTRO`**  
   ROS Distro  
   *required if ROS is not installed in `base-image`*  

action.yml

@@ -107,8 +107,6 @@ inputs:
   rmw-implementation:
     description: "RMW implementation to use (only for ROS 2)"
     default: rmw_cyclonedds_cpp
-  rmw-zenoh-git-ref:
-    description: "Git ref of rmw_zenoh repo to build if `RMW_IMPLEMENTATION=rmw_zenoh_cpp`"
   slim-build-args:
     description: "Arguments to `slim build` (except for `--target` and `--tag`)"
     default: '--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'
@@ -211,7 +209,6 @@ runs:
         IMAGE_TAG: ${{ inputs.image-tag }}
         PLATFORM: ${{ inputs.platform }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
-        RMW_ZENOH_GIT_REF: ${{ inputs.rmw-zenoh-git-ref }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
         SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}
@@ -229,7 +226,7 @@ runs:
       uses: ros-industrial/industrial_ci@master
       env:
         ADDITIONAL_DEBS: git
-        AFTER_INIT_EMBED: '[[ "$RMW_IMPLEMENTATION" == "rmw_zenoh_cpp" ]] && export UNDERLAY="/opt/ws_rmw_zenoh/install" ; [[ -n ${{ inputs.git-https-server }} ]] && git config --global url.https://${{ inputs.git-https-user }}:${{ inputs.git-https-password }}@${{ inputs.git-https-server }}.insteadOf https://${{ inputs.git-https-server }}'
+        AFTER_INIT_EMBED: '[[ -n ${{ inputs.git-https-server }} ]] && git config --global url.https://${{ inputs.git-https-user }}:${{ inputs.git-https-password }}@${{ inputs.git-https-server }}.insteadOf https://${{ inputs.git-https-server }}'
         DOCKER_IMAGE: ${{ steps.build-images.outputs.INDUSTRIAL_CI_IMAGE }}
         DOCKER_PULL: false
         DOCKER_RUN_OPTS: -u root:root
@@ -276,7 +273,6 @@ runs:
         IMAGE_TAG: ${{ inputs.image-tag }}
         PLATFORM: ${{ inputs.platform }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
-        RMW_ZENOH_GIT_REF: ${{ inputs.rmw-zenoh-git-ref }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
         SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}
@@ -319,7 +315,6 @@ runs:
         IMAGE_TAG: latest
         PLATFORM: ${{ inputs.platform }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
-        RMW_ZENOH_GIT_REF: ${{ inputs.rmw-zenoh-git-ref }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
         SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}

docker/Dockerfile

@@ -222,29 +222,8 @@ RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
 # install desired ROS 2 middleware
 ARG RMW_IMPLEMENTATION
 ENV RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_cyclonedds_cpp}
-ARG RMW_ZENOH_GIT_REF
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
-    if [[ "$RMW_IMPLEMENTATION" == "rmw_zenoh_cpp" ]]; then \
-        if [[ ! -d /opt/ws_rmw_zenoh/src ]]; 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 ${RMW_ZENOH_GIT_REF:-${ROS_DISTRO}} && \
-            cd - && \
-            if [[ "$(lsb_release -r | awk '{print $2}')" == "22.04" ]]; then \
-                git clone -b 2.2.x https://github.com/eProsima/Fast-CDR.git /opt/ws_rmw_zenoh/src/Fast-CDR ; \
-            fi && \
-            (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 && \
-            echo "source /opt/ws_rmw_zenoh/install/setup.bash" >> ~/.bashrc ; \
-        fi ; \
-    elif [[ "$ROS_VERSION" == "2" ]]; then \
+    if [[ "$ROS_VERSION" == "2" && "$DISABLE_ROS_INSTALLATION" != "true"]]; then \
         apt-get update && \
         RMW_PACKAGE=ros-$ROS_DISTRO-$(echo $RMW_IMPLEMENTATION | tr '_' '-') && \
         apt-get install -y $RMW_PACKAGE && \
@@ -280,7 +259,6 @@ ARG CMAKE_ARGS="-DCMAKE_BUILD_TYPE=Release"
 # build ROS workspace
 RUN if [[ -x "$(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 ; \
         [[ -f /opt/ws_base_image/install/setup.bash ]] && source /opt/ws_base_image/install/setup.bash ; \
         colcon build --cmake-args ${CMAKE_ARGS} ; \
     elif [[ -x "$(command -v catkin)" ]]; then \

docker/entrypoint.sh

@@ -3,7 +3,6 @@ set -e
 
 # source ROS workspace
 source /opt/ros/$ROS_DISTRO/setup.bash
-[[ -f /opt/ws_rmw_zenoh/install/setup.bash ]] && source /opt/ws_rmw_zenoh/install/setup.bash
 [[ -f /opt/ws_base_image/install/setup.bash ]] && source /opt/ws_base_image/install/setup.bash
 [[ -f $WORKSPACE/devel/setup.bash ]] && source $WORKSPACE/devel/setup.bash
 [[ -f $WORKSPACE/install/setup.bash ]] && source $WORKSPACE/install/setup.bash

scripts/build.sh

@@ -54,7 +54,6 @@ build_image() {
     add_arg_if_set "GIT_SSH_KNOWN_HOST_KEYS"
     add_arg_if_set "GIT_SSH_PRIVATE_KEY"
     add_arg_if_set "RMW_IMPLEMENTATION"
-    add_arg_if_set "RMW_ZENOH_GIT_REF"
     add_arg_if_set "ROS_DISTRO"
     add_arg_if_set "VCS_IMPORT_FILE"
 

scripts/ci.sh

@@ -41,7 +41,6 @@ GIT_SSH_KNOWN_HOST_KEYS="${GIT_SSH_KNOWN_HOST_KEYS:-}"
 GIT_SSH_PRIVATE_KEY="${GIT_SSH_PRIVATE_KEY:-}"
 IMAGE="${IMAGE_NAME}:${IMAGE_TAG}"
 RMW_IMPLEMENTATION="${RMW_IMPLEMENTATION:-}"
-RMW_ZENOH_GIT_REF="${RMW_ZENOH_GIT_REF:-}"
 ROS_DISTRO="${ROS_DISTRO:-}"
 SLIM_BUILD_ARGS="${SLIM_BUILD_ARGS:-'--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'}"
 SLIM_IMAGE="${SLIM_IMAGE_NAME}:${SLIM_IMAGE_TAG}"