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Change RMW default to rmw_fastrtps_cpp #51

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merged 1 commit into from
Feb 5, 2025
Merged

Change RMW default to rmw_fastrtps_cpp #51

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2 changes: 1 addition & 1 deletion .gitlab-ci/docker-ros.yml
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Expand Up @@ -40,7 +40,7 @@ variables:
REGISTRY_PASSWORD: ${CI_REGISTRY_PASSWORD} # Docker registry password
REGISTRY_USER: ${CI_REGISTRY_USER} # Docker registry username
REGISTRY: ${CI_REGISTRY} # Docker registry to push images to
RMW_IMPLEMENTATION: 'rmw_cyclonedds_cpp' # RMW implementation to use (only for ROS 2)
RMW_IMPLEMENTATION: 'rmw_fastrtps_cpp' # RMW implementation to use (only for ROS 2)
ROS_DISTRO: '' # ROS Distro (required if ROS is not installed in `base-image`)
SLIM_BUILD_ARGS: '--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false' # Arguments to `slim build` (except for `--target` and `--tag`)
TARGET: run # Target stage of Dockerfile (comma-separated list) [dev|run]
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -467,7 +467,7 @@ The password of the custom user is set to its username (`dockeruser:dockeruser`
*default:* `${{ github.actor }}` | `$CI_REGISTRY_USER`
- **`rmw-implementation` | `RMW_IMPLEMENTATION`**
ROS 2 middleware implementation
*default:* `rmw_cyclonedds_cpp`
*default:* `rmw_fastrtps_cpp`
*supported values:* `rmw_zenoh_cpp`, `rmw_fastrtps_cpp`, `rmw_cyclonedds_cpp`, `rmw_gurumdds_cpp`, ...
- **`ros-distro` | `ROS_DISTRO`**
ROS Distro
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2 changes: 1 addition & 1 deletion action.yml
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Expand Up @@ -106,7 +106,7 @@ inputs:
description: "ROS Distro (required if ROS is not installed in `base-image`)"
rmw-implementation:
description: "RMW implementation to use (only for ROS 2)"
default: rmw_cyclonedds_cpp
default: rmw_fastrtps_cpp
slim-build-args:
description: "Arguments to `slim build` (except for `--target` and `--tag`)"
default: '--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'
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2 changes: 1 addition & 1 deletion docker/Dockerfile
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Expand Up @@ -221,7 +221,7 @@ RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc

# install desired ROS 2 middleware
ARG RMW_IMPLEMENTATION
ENV RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_cyclonedds_cpp}
ENV RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp}
RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
if [[ "$ROS_VERSION" == "2" && "$DISABLE_ROS_INSTALLATION" != "true" ]]; then \
apt-get update && \
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