From 1952d2a9e5305a0005f94a6d18fdb1a638bfbb46 Mon Sep 17 00:00:00 2001 From: EricX-Zhao Date: Mon, 23 Mar 2026 10:50:39 +0300 Subject: [PATCH] update ros jazzy and gz harmonic --- gz_harmonic/gz_harmonic_sim_dev.dockerfile | 5 +++++ gz_harmonic/zenoh_setup.sh | 16 ++++++++++++++++ 2 files changed, 21 insertions(+) create mode 100644 gz_harmonic/zenoh_setup.sh diff --git a/gz_harmonic/gz_harmonic_sim_dev.dockerfile b/gz_harmonic/gz_harmonic_sim_dev.dockerfile index c3f8d2a..0c947eb 100644 --- a/gz_harmonic/gz_harmonic_sim_dev.dockerfile +++ b/gz_harmonic/gz_harmonic_sim_dev.dockerfile @@ -39,6 +39,8 @@ RUN apt update && apt install -y \ ros-jazzy-eigen-stl-containers \ ros-jazzy-diagnostic-updater \ ros-jazzy-rmw-zenoh-cpp \ + ros-jazzy-foxglove-bridge \ + ros-jazzy-plotjuggler-ros \ ros-jazzy-ros-gz \ && rm -rf /var/lib/apt/lists/* @@ -67,3 +69,6 @@ RUN wget https://github.com/gabime/spdlog/archive/refs/tags/v1.12.0.tar.gz \ && cmake .. -DSPDLOG_BUILD_SHARED=ON \ && make install -j \ && rm -rf /root/v1.12.0.tar.gz /root/spdlog-1.12.0 + +COPY zenoh_setup.sh /etc/zenoh_setup.sh +RUN echo "source /etc/zenoh_setup.sh" >> ~/.bashrc diff --git a/gz_harmonic/zenoh_setup.sh b/gz_harmonic/zenoh_setup.sh new file mode 100644 index 0000000..1523f52 --- /dev/null +++ b/gz_harmonic/zenoh_setup.sh @@ -0,0 +1,16 @@ +function setup_zenoh() { + source /opt/ros/jazzy/local_setup.bash + export RMW_IMPLEMENTATION=rmw_zenoh_cpp + echo "Setup RMW to rmw_zenoh_cpp" +} +function setup_zenoh_client() { + local ip="${1:-192.168.11.1}" + export ZENOH_CONFIG_OVERRIDE="mode=\"client\";connect/endpoints=[\"tcp/${ip}:7447\"]" +} + +function setup_zenoh_peer() { + local ip="${1:-192.168.11.1}" + export ZENOH_CONFIG_OVERRIDE="connect/endpoints=[\"tcp/${ip}:7447\"]" +} + +setup_zenoh