attempt to build ddsrouter

.devcontainer/Dockerfile

@@ -44,7 +44,15 @@ RUN apt-get update \
     libgflags-dev \
     nlohmann-json3-dev \
     ros-humble-image-* \
+    python3 \
+    cmake g++ pip \
+    libasio-dev \
+    libtinyxml2-dev \
+    libssl-dev \
+    python3-sphinx \
+    libyaml-cpp-dev \
     && rm -rf /var/lib/apt/lists/*
+
 RUN git clone https://github.com/YDLIDAR/YDLidar-SDK.git &&\
     mkdir -p YDLidar-SDK/build && \
     cd YDLidar-SDK/build &&\
@@ -80,6 +88,10 @@ RUN git clone https://github.com/libuvc/libuvc.git &&\
 
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+#ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+COPY *repos *.sh /tmp/.devcontainer/
+RUN bash /tmp/.devcontainer/install.sh
+
 
 RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc

.devcontainer/dds.repos

@@ -0,0 +1,29 @@
+repositories:
+  foonathan_memory_vendor:
+    type: git
+    url: https://github.com/eProsima/foonathan_memory_vendor.git
+    version: v1.3.1
+  fastcdr:
+    type: git
+    url: https://github.com/eProsima/Fast-CDR.git
+    version: v1.1.0
+  fastdds:
+    type: git
+    url: https://github.com/eProsima/Fast-DDS.git
+    version: v2.11.2
+  dev-utils:
+    type: git
+    url: https://github.com/eProsima/dev-utils.git
+    version: v0.4.0
+  ddspipe:
+    type: git
+    url: https://github.com/eProsima/DDS-Pipe.git
+    version: v0.2.0
+  ddsrouter:
+    type: git
+    url: https://github.com/eProsima/DDS-Router.git
+    version: v2.0.0
+  googletest-distribution: 
+    type: git
+    url: https://github.com/google/googletest.git
+    version: release-1.11.0

.devcontainer/install.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+set -e
+
+source /opt/ros/humble/setup.bash
+#apt update
+#rosdep --rosdistro=humble update 
+pip install -U argcomplete
+
+rm -rf /opt/ros/lcas
+mkdir -p /opt/ros/lcas/src
+cd /opt/ros/lcas/src
+vcs import < /tmp/.devcontainer/dds.repos
+#rosdep install --from-paths . -r -i -y
+cd /opt/ros/lcas
+colcon build
+
+
+#cd /home/lcas/ws
+#colcon build 
+echo "source /opt/ros/lcas/install/setup.bash" >> ~/.bashrc
+

.github/workflows/docker-build.yml

@@ -70,7 +70,7 @@ jobs:
       uses: docker/setup-qemu-action@v3  
     - name: Build and push limo_ros2 for arm64
       # only build for arm if not PR to speed things up
-      if: ${{ github.event_name != 'pull_request' }} 
+      #if: ${{ github.event_name != 'pull_request' }} 
       uses: docker/build-push-action@v5
       with:
         context: .devcontainer