From e4dd8bf4bb1d66ec6272344cf0582d0c3f9d340e Mon Sep 17 00:00:00 2001
From: Ussama Naal <606033+Samahu@users.noreply.github.com>
Date: Fri, 6 Dec 2024 09:32:39 -0800
Subject: [PATCH] Add the ability to configure ROS middleware upon build (#409)

* Add the ability to configure ROS middleware upon build
* Conditionally install cyclonedds if was chosen
---
 .github/workflows/docker-image.yml | 10 +++++++---
 Dockerfile                         |  6 ++++++
 2 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml
index 5404632b..548b9e5f 100644
--- a/.github/workflows/docker-image.yml
+++ b/.github/workflows/docker-image.yml
@@ -19,13 +19,17 @@ jobs:
           - humble
           - iron
           - jazzy
+        rmw_imp:
+          - rmw_fastrtps_cpp
+          - rmw_cyclonedds_cpp
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: true
       - name: Build the Docker image
         run: |
-          docker build .                                    \
-            --build-arg ROS_DISTRO=${{ matrix.ros_distro }} \
-            --file Dockerfile                               \
+          docker build .                                          \
+            --build-arg ROS_DISTRO=${{ matrix.ros_distro }}       \
+            --build-arg RMW_IMPLEMENTATION=${{ matrix.rmw_imp }}  \
+            --file Dockerfile                                     \
             --tag ouster-ros-${{ matrix.ros_distro }}:$(date +%s)
diff --git a/Dockerfile b/Dockerfile
index 7f13aae8..52981787 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,7 +1,9 @@
 ARG ROS_DISTRO=rolling
+ARG RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 
 FROM ros:${ROS_DISTRO}-ros-core AS build-env
 ENV DEBIAN_FRONTEND=noninteractive \
+    RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION} \
     BUILD_HOME=/var/lib/build \
     OUSTER_ROS_PATH=/opt/ros2_ws/src/ouster-ros
 
@@ -20,6 +22,10 @@ RUN set -xue \
     python3-bloom           \
     python3-colcon-common-extensions
 
+RUN if [ "$RMW_IMPLEMENTATION" = "rmw_cyclonedds_cpp" ]; then \
+        apt-get install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp; \
+    fi
+
 # Set up non-root build user
 ARG BUILD_UID=1000
 ARG BUILD_GID=${BUILD_UID}