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Build rmw_zenoh 0.2.3 from source #70

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8 changes: 6 additions & 2 deletions Dockerfile.estimator
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,10 @@ ARG MODEL_DIR=models

ADD ibpc_interfaces /opt/ros/underlay/src/ibpc_interfaces

# Install rmw_zenoh pinned at 0.2.3 from source.
RUN cd /opt/ros/underlay/src/ \
&& git clone https://github.com/ros2/rmw_zenoh && cd rmw_zenoh && git checkout 0.2.3 && cd ../../

RUN . /opt/ros/jazzy/setup.sh \
&& apt-get update \
&& rosdep update \
Expand All @@ -38,7 +42,7 @@ ARG SERVICE_PACKAGE=ibpc_pose_estimator_py
ARG SERVICE_EXECUTABLE_NAME=ibpc_pose_estimator

RUN apt-get update \
&& apt install -y ros-jazzy-rmw-zenoh-cpp \
&& apt install -y \
&& rm -rf /var/lib/apt/lists/*

ADD ${SERVICE_PACKAGE} /opt/ros/overlay/src/${SERVICE_PACKAGE}
Expand All @@ -59,7 +63,7 @@ ARG SERVICE_EXECUTABLE_NAME=ibpc_pose_estimator

RUN apt-get update \
&& apt upgrade -y \
&& apt install -y ros-jazzy-rmw-zenoh-cpp python3-imageio python3-png python3-pip python3-scipy \
&& apt install -y python3-imageio python3-png python3-pip python3-scipy \
&& rm -rf /var/lib/apt/lists/*

COPY --from=overlay /opt/ros/underlay/install /opt/ros/underlay/install
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10 changes: 5 additions & 5 deletions Dockerfile.tester
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,10 @@ FROM base AS underlay

ADD ibpc_interfaces /opt/ros/underlay/src/ibpc_interfaces

# Install rmw_zenoh pinned at 0.2.3 from source.
RUN cd /opt/ros/underlay/src/ \
&& git clone https://github.com/ros2/rmw_zenoh && cd rmw_zenoh && git checkout 0.2.3 && cd ../../

RUN . /opt/ros/jazzy/setup.sh \
&& apt-get update \
&& rosdep update \
Expand All @@ -22,10 +26,6 @@ RUN . /opt/ros/jazzy/setup.sh \

FROM underlay AS overlay

RUN apt-get update \
&& apt install -y ros-jazzy-rmw-zenoh-cpp \
&& rm -rf /var/lib/apt/lists/*

ADD ibpc_tester /opt/ros/overlay/src/ibpc_tester

RUN . /opt/ros/jazzy/setup.sh \
Expand All @@ -43,7 +43,7 @@ FROM base

RUN apt-get update \
&& apt upgrade -y \
&& apt install -y ros-jazzy-rmw-zenoh-cpp python3-imageio python3-pandas python3-png python3-pip python3-scipy \
&& apt install -y python3-imageio python3-pandas python3-png python3-pip python3-scipy \
&& rm -rf /var/lib/apt/lists/*

# TODO remove deprecated pytz usage
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