add rmw zenoh support to rmw plugin

Fixes #307
osrf · Feb 1, 2025 · 3885a3f · 3885a3f
1 parent 66fe159
commit 3885a3f
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Showing 3 changed files with 12 additions and 7 deletions.
diff --git a/src/rocker/rmw_extension.py b/src/rocker/rmw_extension.py
@@ -25,6 +25,7 @@ class RMW(RockerExtension):
     rmw_map = {
         'cyclonedds': ['ros-${ROS_DISTRO}-rmw-cyclonedds-cpp'],
         'fastrtps'  : ['ros-${ROS_DISTRO}-rmw-fastrtps-cpp'],
+        'zenoh'  : ['ros-${ROS_DISTRO}-rmw-zenoh-cpp'],
         # TODO(tfoote) Enable connext with license acceptance method
         # 'connextdds': ['ros-${ROS_DISTRO}-rmw-connextdds'],
     }

diff --git a/src/rocker/templates/rmw_snippet.Dockerfile.em b/src/rocker/templates/rmw_snippet.Dockerfile.em
@@ -4,7 +4,7 @@
 @[ if rmw ]@
 RUN \
   if [ -z "${ROS_DISTRO}" ]; then echo "ROS_DISTRO is unset cannot override RMW" ; exit 1 ; fi ;\
-  if dpkg -l @(' '.join(packages)) > /dev/null 2>&1; then \
+  if ! dpkg -l @(' '.join(packages)) | grep -q ^ii ; then \
    apt-get update \
    && DEBIAN_FRONTENT=non-interactive apt-get install -qy --no-install-recommends\
      @(' '.join(packages)) \

diff --git a/test/test_rmw_extension.py b/test/test_rmw_extension.py
@@ -84,12 +84,16 @@ def test_rmw_extension(self):
         plugins = list_plugins()
         rmw_plugin = plugins['rmw']
 
+        rmws_to_test = ['fastrtps', 'cyclonedds', 'zenoh']
+
         p = rmw_plugin()
         self.assertTrue(plugin_load_parser_correctly(rmw_plugin))
 
-        mock_cliargs = {'rmw': ['cyclonedds']}
-        dig = DockerImageGenerator([rmw_plugin()], mock_cliargs, 'ros:rolling')
-        self.assertEqual(dig.build(), 0)
-        self.assertEqual(dig.run(command='dpkg -l ros-rolling-rmw-cyclonedds-cpp'), 0)
-        self.assertIn('-e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp', dig.generate_docker_cmd('', mode='dry-run'))
-        dig.clear_image()
+
+        for rmw_name in rmws_to_test:
+            mock_cliargs = {'rmw': [rmw_name]}
+            dig = DockerImageGenerator([rmw_plugin()], mock_cliargs, 'ros:rolling')
+            self.assertEqual(dig.build(), 0, msg=f'dig.build for rmw {rmw_name} failed')
+            self.assertEqual(dig.run(command=f'dpkg -l ros-rolling-rmw-{rmw_name}-cpp'), 0)
+            self.assertIn(f'-e RMW_IMPLEMENTATION=rmw_{rmw_name}_cpp', dig.generate_docker_cmd('', mode='dry-run'))
+            dig.clear_image()