merged changes from fix/jazzy

Author: Adrian Auer

.gitlab-ci.yml

@@ -7,20 +7,22 @@ RUN apt-get update -qq \
     ros-${ROS_DISTRO}-std-msgs \
     ros-${ROS_DISTRO}-geometry-msgs \
     ros-${ROS_DISTRO}-diagnostic-msgs \
-    # ament-cmake \
+    ros-${ROS_DISTRO}-ament-cmake \
+    ros-${ROS_DISTRO}-rmw-zenoh-cpp \
+    python3-flake8 \
+    python3-pytest-cov \
     && rm -rf /var/lib/apt/lists/*
 
 # PEP 668: https://docs.ros.org/en/independent/api/rosdep/html/pip_and_pep_668.html
 ENV PIP_BREAK_SYSTEM_PACKAGES=1
-# install flake and pytest-cov for testing
-RUN pip3 install --upgrade flake8 pytest-cov --user
 
 EXPOSE 7000
 
 ENV APP=/app/helloric_ui_com
 
 COPY ./requirements.txt /tmp/requirements.txt
-RUN pip3 install -r /tmp/requirements.txt
+# TODO: use a venv or install debian packages instead
+RUN pip3 install -r /tmp/requirements.txt --break-system-packages
 
 WORKDIR ${APP}
 COPY ./ric-messages ${APP}/ric-messages
@@ -35,5 +37,7 @@ COPY ./helloric_ui_com ${APP}/helloric_ui_com
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
     colcon build
 
+ENV RMW_IMPLEMENTATION=rmw_zenoh_cpp
+
 ENTRYPOINT ["/entrypoint.bash"]
 CMD ["ros2", "run", "helloric_ui_com", "helloric_ui_com"]

Dockerfile

@@ -0,0 +1,14 @@
+services:
+  helloric_ui_com:
+    image: harbor.hb.dfki.de/helloric/ui_com:x64_jazzy_001
+    build:
+      context: .
+      dockerfile: Dockerfile
+      args:
+        ROS_DISTRO: jazzy
+    environment:
+      PYTHONUNBUFFERED: 1
+      ZENOH_CONFIG_OVERRIDE: >-
+          connect/endpoints=["tcp/host.docker.internal:${ZENOH_ROUTER_PORT}"];mode="client"
+    extra_hosts:
+      - "host.docker.internal:host-gateway"

compose.yml

@@ -1,3 +1,3 @@
 #!/bin/bash
 docker compose build
-docker compose run helloric_ui_com bash -c "source /opt/ros/humble/setup.bash && launch_test /integration_tests/launch_testing/com_launch_test.py"
+docker compose run helloric_ui_com bash -c "source /opt/ros/jazzy/setup.bash && launch_test /integration_tests/launch_testing/com_launch_test.py"