8000 add rmw zenoh support to rmw plugin (#315) · osrf/rocker@5c6e8e7 · GitHub
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add rmw zenoh support to rmw plugin (#315)
* add rmw zenoh support to rmw plugin Fixes #307 * Update to validate detecting multiple packages Also parameterize tests automatically * Move the expensive apt-get update after the installed test And only clean up once so repeated calls will hit the cache.
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‎src/rocker/rmw_extension.py‎

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@@ -25,6 +25,8 @@ class RMW(RockerExtension):
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rmw_map = {
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'cyclonedds': ['ros-${ROS_DISTRO}-rmw-cyclonedds-cpp'],
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'fastrtps' : ['ros-${ROS_DISTRO}-rmw-fastrtps-cpp'],
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'zenoh' : ['ros-${ROS_DISTRO}-rmw-zenoh-cpp', 'ros-${ROS_DISTRO}-zenoh-vendor'],
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# Second dependency not 100% necessary but validates dual package detection in tests.
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# TODO(tfoote) Enable connext with license acceptance method
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# 'connextdds': ['ros-${ROS_DISTRO}-rmw-connextdds'],
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}

‎src/rocker/templates/rmw_snippet.Dockerfile.em‎

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@@ -1,16 +1,19 @@
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# workspace development helpers
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3-
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# TODO(tfoote) This could be optimized to skip repeated apt updates.
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@[ if rmw ]@
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RUN \
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if [ -z "${ROS_DISTRO}" ]; then echo "ROS_DISTRO is unset cannot override RMW" ; exit 1 ; fi ;\
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if dpkg -l @(' '.join(packages)) > /dev/null 2>&1; then \
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apt-get update \
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&& DEBIAN_FRONTENT=non-interactive apt-get install -qy --no-install-recommends\
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@(' '.join(packages)) \
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&& apt-get clean ;\
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@[for package in packages]@
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if ! dpkg -l @(packages) | grep -q ^ii ; then \
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apt-get update && \
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DEBIAN_FRONTENT=non-interactive apt-get install -qy --no-install-recommends\
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@(package) ;\
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else \
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echo "Found rmw packages @(' '.join(packages)) no need to install" ; \
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fi
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echo "Found rmw package @(package) no need to install" ; \
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fi ; \
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@[end for]@
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apt-get clean ;\
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echo "Done detecting packages for rmw"
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@[ end if ]@
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‎test/test_rmw_extension.py‎

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@@ -26,6 +26,7 @@
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from test_extension import plugin_load_parser_correctly
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from rocker.rmw_extension import RMW
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class rmwExtensionTest(unittest.TestCase):
@@ -84,12 +85,16 @@ def test_rmw_extension(self):
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plugins = list_plugins()
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rmw_plugin = plugins['rmw']
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rmws_to_test = RMW.rmw_map.keys()
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p = rmw_plugin()
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self.assertTrue(plugin_load_parser_correctly(rmw_plugin))
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mock_cliargs = {'rmw': ['cyclonedds']}
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dig = DockerImageGenerator([rmw_plugin()], mock_cliargs, 'ros:rolling')
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self.assertEqual(dig.build(), 0)
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self.assertEqual(dig.run(command='dpkg -l ros-rolling-rmw-cyclonedds-cpp'), 0)
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self.assertIn('-e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp', dig.generate_docker_cmd('', mode='dry-run'))
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dig.clear_image()
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for rmw_name in rmws_to_test:
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mock_cliargs = {'rmw': [rmw_name]}
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dig = DockerImageGenerator([rmw_plugin()], mock_cliargs, 'ros:rolling')
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self.assertEqual(dig.build(), 0, msg=f'dig.build for rmw {rmw_name} failed')
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self.assertEqual(dig.run(command=f'dpkg -l ros-rolling-rmw-{rmw_name}-cpp'), 0)
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self.assertIn(f'-e RMW_IMPLEMENTATION=rmw_{rmw_name}_cpp', dig.generate_docker_cmd('', mode='dry-run'))
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dig.clear_image()

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