Added ROS_IP configuration

Author: JVALPASS

robot-template/_build/robot-noble-ros2/Dockerfile-base

@@ -9,7 +9,10 @@ ARG RECIPES_TAG=main
 ARG ROBOT_PACKAGES=""
 ARG ADDITIONAL_PACKAGES=""
 
-
+# ROS2 DDS Configuration arguments (ADD THESE NEW ARGS)
+ARG ROS_DDS_VENDOR=cyclonedds
+ARG ROS_IP=localhost
+ARG SETUP_ROS2_DDS=true
 
 # env
 ENV PYTHONUNBUFFERED=1
@@ -24,7 +27,6 @@ RUN sudo apt-get update && sudo apt-get install -y curl && \
 
 RUN sudo apt update && sudo apt install -y xbot2_desktop_full ros-$ROS_DISTRO-realsense2-description
 
-
 # add kyon user
 USER root
 
@@ -53,6 +55,31 @@ ENV HHCM_FOREST_CLONE_DEFAULT_PROTO=https
 # pip deps
 RUN source ~/env/bin/activate && pip install netifaces
 
+# ============ ADD ROS2 DDS CONFIGURATION HERE ============
+# ROS2 DDS Configuration (for all robots using ROS2)
+# Install cmake if not already present (might be needed for ros2_config)
+RUN if [ "$SETUP_ROS2_DDS" = "true" ]; then \
+        sudo apt-get update && sudo apt-get install -y cmake build-essential; \
+    fi
+
+# Conditionally setup ROS2 DDS configuration
+RUN if [ "$SETUP_ROS2_DDS" = "true" ]; then \
+        git clone https://github.com/advrhumanoids/ros2_config.git /tmp/ros2_config && \
+        cd /tmp/ros2_config && \
+        mkdir build && cd build && \
+        cmake .. -DROS2_IP=$ROS_IP && \
+        make && \
+        sudo make install && \
+        echo "source ~/ros2_config/dds/${ROS_DDS_VENDOR}/setup.bash" >> ~/.bashrc && \
+        cd / && rm -rf /tmp/ros2_config; \
+    fi
+
+# Also set the RMW implementation if using CycloneDDS
+RUN if [ "$ROS_DDS_VENDOR" = "cyclonedds" ]; then \
+        echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc; \
+    fi
+# ============ END ROS2 DDS CONFIGURATION ============
+
 # build required software (requires valid netrc for auth)
 # FIX 2: Activate env before running build script 
 RUN --mount=type=secret,id=netrc,dst=/home/$USER_NAME/.netrc,uid=$USER_ID \

robot-template/_build/robot-noble-ros2/docker-bake.hcl

@@ -16,7 +16,9 @@ variable "ADDITIONAL_PACKAGES" { default = "" }
 variable "CI" { default = "" }  # Will be set by GitHub Actions
 variable "GITHUB_ACTIONS" { default = "" }  # Also set by GitHub Actions
 variable "LOCAL_CACHE_DIR" { default = "/tmp/buildkit-cache" }
-
+variable "ROS_DDS_VENDOR" { default = "cyclonedds" }
+variable "ROS_IP" { default = "localhost" }
+variable "SETUP_ROS2_DDS" { default = "true" }
 
 
 # Function to generate tags for images
@@ -60,7 +62,10 @@ target "base" {
     RECIPES_TAG = RECIPES_TAG
     ROBOT_PACKAGES = ROBOT_PACKAGES
     ADDITIONAL_PACKAGES = ADDITIONAL_PACKAGES
-
+    # Add DDS configuration args
+    ROS_DDS_VENDOR = ROS_DDS_VENDOR
+    ROS_IP = ROS_IP
+    SETUP_ROS2_DDS = SETUP_ROS2_DDS
   }
   secret = [
   {