update ros jazzy and gz harmonic

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

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