ros2 · fgallegosalido · Feb 10, 2026
@@ -154,12 +154,15 @@ RUN apt-get update && apt-get install --no-install-recommends -y lcov
 RUN pip3 install -U git+https://github.com/ahcorde/lcov-to-cobertura-xml@master
 
 # Install the Connext binary from the OSRF repositories. if ROS_DISTRO is humble or jazzy
-# install rti-connext-dds-6.0.1 else install rti-connext-dds-7.3.0-ros.
+# install rti-connext-dds-6.0.1 else if ROS_DISTRO is kilted install rti-connext-dds-7.3.0-ros
+# else install rti-connext-dds-7.7.0-ros.
 RUN if test \( ${PLATFORM} = x86 -a ${INSTALL_CONNEXT_DEBS} = true \); then \
   if test \( ${ROS_DISTRO} = humble -o ${ROS_DISTRO} = jazzy \); then \
     apt-get update && RTI_NC_LICENSE_ACCEPTED=yes apt-get install -y rti-connext-dds-6.0.1; \
-  else \
+  elif test ${ROS_DISTRO} = kilted; then \
     apt-get update && RTI_NC_LICENSE_ACCEPTED=yes apt-get install -y rti-connext-dds-7.3.0-ros; \
+  else \
+    apt-get update && RTI_NC_LICENSE_ACCEPTED=yes apt-get install -y rti-connext-dds-7.7.0-ros; \
   fi; \
     fi
 
@@ -174,20 +177,27 @@ RUN apt-get update && apt-get install --no-install-recommends -y python3-pexpect
 COPY rticonnextdds-src/ /tmp/rticonnextdds-src
 
 # Join the correct Connext version files based on the value of ROS_DISTRO.
-RUN if test ${ROS_DISTRO} = jazzy -o ${ROS_DISTRO} = humble; then \
+RUN \
+if test ${ROS_DISTRO} = jazzy -o ${ROS_DISTRO} = humble; then \
   for splitpkg in \
     /tmp/rticonnextdds-src/rti_connext_dds-6.0.1-pro-host-x64Linux.run \
     /tmp/rticonnextdds-src/rti_connext_dds-6.0.1.25-pro-host-x64Linux.rtipkg \
     /tmp/rticonnextdds-src/rti_connext_dds-6.0.1.25-pro-target-x64Linux4gcc7.3.0.rtipkg; do \
     cat $(echo ${splitpkg}.0?? | sort) > $splitpkg; \
   done; \
-    else \
+elif test ${ROS_DISTRO} = kilted; then \
   for splitpkg in \
     /tmp/rticonnextdds-src/rti_connext_dds-7.3.0-pro-host-x64Linux.run \
     /tmp/rticonnextdds-src/rti_connext_dds-7.3.0-pro-target-x64Linux4gcc7.3.0.rtipkg; do \
     cat $(echo ${splitpkg}.0?? | sort) > $splitpkg; \
   done; \
-    fi
+else \
+  for splitpkg in \
+    /tmp/rticonnextdds-src/rti_connext_dds-7.7.0-pro-host-x64Linux.run \
+    /tmp/rticonnextdds-src/rti_connext_dds-7.7.0-pro-target-x64Linux4gcc8.5.0.rtipkg; do \
+    cat $(echo ${splitpkg}.0?? | sort) > $splitpkg; \
+  done; \
+fi
 
 # Make the RTI Connext installation script executable. For any version of Connext.
 RUN chmod 755 /tmp/rticonnextdds-src/rti_connext_dds-*-pro-host-x64Linux.run

@@ -194,20 +194,27 @@ RUN dnf install \
 COPY rticonnextdds-src/ /tmp/rticonnextdds-src
 
 # Join the correct Connext version files based on the value of ROS_DISTRO.
-RUN if test ${ROS_DISTRO} = jazzy -o ${ROS_DISTRO} = humble; then \
+RUN \
+if test ${ROS_DISTRO} = jazzy -o ${ROS_DISTRO} = humble; then \
   for splitpkg in \
     /tmp/rticonnextdds-src/rti_connext_dds-6.0.1-pro-host-x64Linux.run \
     /tmp/rticonnextdds-src/rti_connext_dds-6.0.1.25-pro-host-x64Linux.rtipkg \
     /tmp/rticonnextdds-src/rti_connext_dds-6.0.1.25-pro-target-x64Linux4gcc7.3.0.rtipkg; do \
     cat $(echo ${splitpkg}.0?? | sort) > $splitpkg; \
   done; \
-    else \
+elif test ${ROS_DISTRO} = kilted; then \
   for splitpkg in \
     /tmp/rticonnextdds-src/rti_connext_dds-7.3.0-pro-host-x64Linux.run \
     /tmp/rticonnextdds-src/rti_connext_dds-7.3.0-pro-target-x64Linux4gcc7.3.0.rtipkg; do \
     cat $(echo ${splitpkg}.0?? | sort) > $splitpkg; \
   done; \
-    fi
+else \
+  for splitpkg in \
+    /tmp/rticonnextdds-src/rti_connext_dds-7.7.0-pro-host-x64Linux.run \
+    /tmp/rticonnextdds-src/rti_connext_dds-7.7.0-pro-target-x64Linux4gcc8.5.0.rtipkg; do \
+    cat $(echo ${splitpkg}.0?? | sort) > $splitpkg; \
+  done; \
+fi
 
 # Make the RTI Connext installation script executable. For any version of Connext.
 RUN chmod 755 /tmp/rticonnextdds-src/rti_connext_dds-*-pro-host-x64Linux.run

@@ -41,50 +41,92 @@ if [ "${ARCH}" = "x86_64" -a "${ID}" = "ubuntu" ]; then
     if [ -z "${IGNORE_CONNEXTDDS}" ]; then
         echo "Installing Connext..."
 
-        export CONNEXT_FULL_VERSION="7.3.0"
+        # Set Connext version, OpenSSL version and base/target architecture variables:
+        # - Lyrical/Rolling:
+        #     - Version: Connext 7.7.0
+        #     - OpenSSL version: 3.5.5
+        #     - Base architecture: x64Linux4gcc8.5.0
+        #     - Target architecture: x64Linux4gcc8.5.0
+        # - Kilted:
+        #     - Version: Connext 7.3.0
+        #     - OpenSSL version: 3.0.12
+        #     - Base architecture: x64Linux3gcc4.8.2
+        #     - Target architecture: x64Linux4gcc7.3.0
+        # - Humble/Jazzy:
+        #     - Version: Connext 6.0.1.25
+        #     - OpenSSL version: 1.1.1k
+        #     - Base architecture: x64Linux2.6gcc4.4.5
+        #     - Target architecture: x64Linux4gcc7.3.0
+        export CONNEXT_FULL_VERSION="7.7.0"
         export CONNEXT_DISPLAY_VERSION="$CONNEXT_FULL_VERSION"
-        if [ "${ROS_DISTRO}" = "jazzy" ] || [ "${ROS_DISTRO}" = "humble" ]; then
-            export CONNEXT_FULL_VERSION="6.0.1.25"
-            export CONNEXT_DISPLAY_VERSION="${CONNEXT_FULL_VERSION%.*}"
-        fi
+        export OPENSSL_VERSION="3.5.5"
+        export CONNEXT_BASE_ARCH="x64Linux4gcc8.5.0"
+        export CONNEXT_TARGET_ARCH="$CONNEXT_BASE_ARCH"
+        case "${ROS_DISTRO}" in
+            lyrical)
+                export CONNEXT_FULL_VERSION="7.7.0"
+                export CONNEXT_DISPLAY_VERSION="$CONNEXT_FULL_VERSION"
+                export OPENSSL_VERSION="3.5.5"
+                export CONNEXT_BASE_ARCH="x64Linux4gcc8.5.0"
+                export CONNEXT_TARGET_ARCH="$CONNEXT_BASE_ARCH"
+                ;;
+            kilted)
+                export CONNEXT_FULL_VERSION="7.3.0"
+                export CONNEXT_DISPLAY_VERSION="$CONNEXT_FULL_VERSION"
+                export OPENSSL_VERSION="3.0.12"
+                export CONNEXT_BASE_ARCH="x64Linux4gcc7.3.0"
+                export CONNEXT_TARGET_ARCH="x64Linux3gcc4.8.2"
+                ;;
+            humble|jazzy)
+                export CONNEXT_FULL_VERSION="6.0.1.25"
+                export CONNEXT_DISPLAY_VERSION="${CONNEXT_FULL_VERSION%.*}"
+                export OPENSSL_VERSION="1.1.1k"
+                export CONNEXT_BASE_ARCH="x64Linux4gcc7.3.0"
+                export CONNEXT_TARGET_ARCH="x64Linux2.6gcc4.4.5"
+                ;;
+            *)
+                # Rolling case. Nothing to do.
+                ;;
+        esac
 
         case "${CI_ARGS}" in
           *--connext-debs*)
             echo "Using Debian package of Connext"
-            if test -r /opt/rti.com/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.sh; then
-                echo "Sourcing RTI setenv script /opt/rti.com/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.sh"
-                . /opt/rti.com/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.sh
+            if test -r /opt/rti.com/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}/resource/scripts/rtisetenv_${CONNEXT_TARGET_ARCH}.sh; then
+                echo "Sourcing RTI setenv script /opt/rti.com/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}/resource/scripts/rtisetenv_${CONNEXT_TARGET_ARCH}.sh"
+                . /opt/rti.com/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}/resource/scripts/rtisetenv_${CONNEXT_TARGET_ARCH}.sh
             fi
             ;;
           *)
             echo "Installing Connext binaries off RTI website..."
             if test -x /tmp/rticonnextdds-src/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}-pro-host-x64Linux.run; then
                 rtipkg_list="\
-                /tmp/rticonnextdds-src/openssl-3.0.12-${CONNEXT_FULL_VERSION}-host-x64Linux.rtipkg \
-                /tmp/rticonnextdds-src/openssl-3.0.12-${CONNEXT_FULL_VERSION}-target-x64Linux4gcc7.3.0.rtipkg \
-                /tmp/rticonnextdds-src/rti_security_plugins-${CONNEXT_FULL_VERSION}-host-openssl-3.0-x64Linux.rtipkg \
-                /tmp/rticonnextdds-src/rti_security_plugins-${CONNEXT_FULL_VERSION}-target-openssl-3.0-x64Linux4gcc7.3.0.rtipkg \
+                /tmp/rticonnextdds-src/openssl-${OPENSSL_VERSION}-${CONNEXT_FULL_VERSION}-host-x64Linux.rtipkg \
+                /tmp/rticonnextdds-src/openssl-${OPENSSL_VERSION}-${CONNEXT_FULL_VERSION}-target-${CONNEXT_TARGET_ARCH}.rtipkg \
+                /tmp/rticonnextdds-src/rti_security_plugins-${CONNEXT_FULL_VERSION}-host-openssl-${OPENSSL_VERSION}-x64Linux.rtipkg \
+                /tmp/rticonnextdds-src/rti_security_plugins-${CONNEXT_FULL_VERSION}-target-openssl-${OPENSSL_VERSION}-${CONNEXT_TARGET_ARCH}.rtipkg \
                 "
-                connext_base_architecture="x64Linux3gcc4.8.2"
-                if [ "${CONNEXT_FULL_VERSION}" = "6.0.1.25" ]; then
+
+                if [ "${ROS_DISTRO}" = "humble" ] || [ "${ROS_DISTRO}" = "jazzy" ]; then
                     rtipkg_list="\
                     /tmp/rticonnextdds-src/rti_connext_dds-${CONNEXT_FULL_VERSION}-pro-host-x64Linux.rtipkg \
-                    /tmp/rticonnextdds-src/openssl-1.1.1k-${CONNEXT_FULL_VERSION}-host-x64Linux.rtipkg \
+                    /tmp/rticonnextdds-src/openssl-${OPENSSL_VERSION}-${CONNEXT_FULL_VERSION}-host-x64Linux.rtipkg \
                     /tmp/rticonnextdds-src/rti_security_plugins-${CONNEXT_FULL_VERSION}-host-x64Linux.rtipkg \
-                    /tmp/rticonnextdds-src/rti_security_plugins-${CONNEXT_FULL_VERSION}-target-x64Linux4gcc7.3.0.rtipkg \
+                    /tmp/rticonnextdds-src/rti_security_plugins-${CONNEXT_FULL_VERSION}-target-${CONNEXT_TARGET_ARCH}.rtipkg \
                     "
-                    connext_base_architecture="x64Linux2.6gcc4.4.5"
                 fi
-                python3 -u /tmp/rti_web_binaries_install_script.py /tmp/rticonnextdds-src/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}-pro-host-x64Linux.run \
-                    /home/rosbuild/rti_connext_dds-${CONNEXT_DISPLAY_VERSION} --rtipkg_paths \
-                    /tmp/rticonnextdds-src/rti_connext_dds-${CONNEXT_FULL_VERSION}-pro-target-x64Linux4gcc7.3.0.rtipkg \
-                    $rtipkg_list
+                python3 -u /tmp/rti_web_binaries_install_script.py \
+                    /tmp/rticonnextdds-src/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}-pro-host-x64Linux.run \
+                    /home/rosbuild/rti_connext_dds-${CONNEXT_DISPLAY_VERSION} \
+                    --rtipkg_paths \
+                        /tmp/rticonnextdds-src/rti_connext_dds-${CONNEXT_FULL_VERSION}-pro-target-${CONNEXT_TARGET_ARCH}.rtipkg \
+                        $rtipkg_list
                 if [ $? -ne 0 ]; then
                     echo "Connext not installed correctly (maybe you're on an ARM machine?)." >&2
                     exit 1
                 fi
                 export CONNEXTDDS_DIR=/home/rosbuild/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}
-                export RTI_OPENSSL_LIBS=$CONNEXTDDS_DIR/resource/app/lib/${connext_base_architecture}
+                export RTI_OPENSSL_LIBS=$CONNEXTDDS_DIR/resource/app/lib/${CONNEXT_BASE_ARCH}
             else
                 echo "No connext installation files found found." >&2
                 exit 1

@@ -59,25 +59,24 @@ RUN pixi --color never --no-progress -q run "pip install 'colcon-ros-domain-id-c
 
 # Setup environment variables needed for Connext
 ENV RTI_LICENSE_FILE C:\connext\rti_license.dat
-ENV CONNEXTDDS_DIR C:\connext\rti_connext_dds-7.3.0
-ENV RTI_OPENSSL_BIN C:\connext\openssl-3.0.12\x64Win64VS2017\bin
-ENV RTI_OPENSSL_LIB C:\connext\openssl-3.0.12\x64Win64VS2017\lib
+ENV CONNEXTDDS_DIR C:\connext\rti_connext_dds-7.7.0
+ENV RTI_OPENSSL_BIN C:\connext\openssl-3.5.5\x64Win64VS2017\bin
+ENV RTI_OPENSSL_LIB C:\connext\openssl-3.5.5\x64Win64VS2017\lib
 
 # Copy over necessary Connext files into container
 RUN IF NOT EXIST "C:\TEMP" mkdir C:\TEMP
 COPY rticonnextdds-src\ C:\TEMP\rticonnextdds-src
-RUN copy /b C:\TEMP\rticonnextdds-src\rti_connext_dds-7.3.0-pro-host-x64Win64.exe.??? C:\TEMP\rticonnextdds-src\rti_connext_dds-7.3.0-pro-host-x64Win64.exe
-RUN copy /b C:\TEMP\rticonnextdds-src\rti_connext_dds-7.3.0-pro-target-x64Win64VS2017.rtipkg.??? C:\TEMP\rticonnextdds-src\rti_connext_dds-7.3.0-pro-target-x64Win64VS2017.rtipkg
+RUN copy /b C:\TEMP\rticonnextdds-src\rti_connext_dds-7.7.0-pro-host-x64Win64.exe.??? C:\TEMP\rticonnextdds-src\rti_connext_dds-7.7.0-pro-host-x64Win64.exe
+RUN copy /b C:\TEMP\rticonnextdds-src\rti_connext_dds-7.7.0-pro-target-x64Win64VS2017.rtipkg.??? C:\TEMP\rticonnextdds-src\rti_connext_dds-7.7.0-pro-target-x64Win64VS2017.rtipkg
 COPY rticonnextdds-license\rti_license.dat $RTI_LICENSE_FILE
 
 # Install Connext
-RUN C:\TEMP\rticonnextdds-src\rti_connext_dds-7.3.0-pro-host-x64Win64.exe --mode unattended --unattendedmodeui minimalWithDialogs --prefix C:\connext
-RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\openssl-3.0.12-7.3.0-host-x64Win64.rtipkg
-RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\openssl-3.0.12-7.3.0-target-x64Win64VS2017.rtipkg
-RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\rti_connext_dds-7.3.0-pro-target-x64Win64VS2017.rtipkg
-RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\rti_security_plugins-7.3.0-host-x64Win64.rtipkg
-RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\rti_security_plugins-7.3.0-target-x64Win64VS2017.rtipkg
-
+RUN C:\TEMP\rticonnextdds-src\rti_connext_dds-7.7.0-pro-host-x64Win64.exe --mode unattended --unattendedmodeui minimalWithDialogs --prefix C:\connext
+RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\openssl-3.5.5-7.7.0-host-x64Win64.rtipkg
+RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\openssl-3.5.5-7.7.0-target-x64Win64VS2017.rtipkg
+RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\rti_connext_dds-7.7.0-pro-target-x64Win64VS2017.rtipkg
+RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\rti_security_plugins-7.7.0-host-x64Win64.rtipkg
+RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\rti_security_plugins-7.7.0-target-x64Win64VS2017.rtipkg
 WORKDIR C:\ci
 # Note that this *must* be in shell form, not exec form, so Docker on Windows appropriately substitutes %CI_ARGS%
 CMD "pixi run --manifest-path C:\pixi_ws\pixi.toml --frozen python run_ros2_batch.py %CI_ARGS%"