add rmw zenoh support to rmw plugin

Fixes #307
osrf · Jan 24, 2025 · b715ae5 · b715ae5
1 parent fc46227
commit b715ae5
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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/test/test_rmw_extension.py b/test/test_rmw_extension.py
@@ -93,3 +93,10 @@ def test_rmw_extension(self):
         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()
+
+        mock_cliargs = {'rmw': ['zenoh']}
+        dig = DockerImageGenerator([rmw_plugin()], mock_cliargs, 'ros:rolling')
+        self.assertEqual(dig.build(), 0)
+        self.assertEqual(dig.run(command='dpkg -l ros-rolling-rmw-zenoh-cpp'), 0)
+        self.assertIn('-e RMW_IMPLEMENTATION=rmw_zenoh_cpp', dig.generate_docker_cmd('', mode='dry-run'))
+        dig.clear_image()