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Support usage of rmw_zenoh #34

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support usage of rmw_zenoh
jpbusch committed Oct 22, 2024
commit d492233e6fbac73f0b0c6e6523558ac74824e672
9 changes: 8 additions & 1 deletion docker/Dockerfile
Original file line number Diff line number Diff line change
@@ -214,7 +214,14 @@ 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" ]]; then \
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git clone https://github.com/ros2/rmw_zenoh.git $WORKSPACE/src/upstream/rmw_zenoh && \
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rosdep init || true && \
rosdep update --rosdistro $ROS_DISTRO && \
apt-get update && \
rosdep install -y --from-paths $WORKSPACE/src/upstream/rmw_zenoh --ignore-src --rosdistro $ROS_DISTRO && \
rm -rf /var/lib/apt/lists/* ; \
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elif [[ "$ROS_VERSION" == "2" ]]; then \
apt-get update && \
RMW_PACKAGE=ros-$ROS_DISTRO-$(echo $RMW_IMPLEMENTATION | tr '_' '-') && \
apt-get install -y $RMW_PACKAGE && \