Use connextdds 7.3.0 for Rolling

.gitmodules

@@ -1,7 +1,7 @@
 [submodule "linux_docker_resources/rticonnextdds-src"]
 	path = linux_docker_resources/rticonnextdds-src
 	url = git@github.com:osrf/rticonnextdds-bins.git
-	branch = binaries/linux/amd64/6.0.1
+	branch = binaries/linux/amd64/omnibus
 [submodule "linux_docker_resources/rticonnextdds-license"]
 	path = linux_docker_resources/rticonnextdds-license
 	url = git@github.com:osrf/rticonnextdds-license.git

linux_docker_resources/Dockerfile

@@ -153,25 +153,44 @@ RUN apt-get update && apt-get install --no-install-recommends -y lcov
 # merged use the fork with the fix.
 RUN pip3 install -U git+https://github.com/ahcorde/lcov-to-cobertura-xml@master
 
-# Install the Connext binary from the OSRF repositories.
-RUN if test \( ${PLATFORM} = x86 -a ${INSTALL_CONNEXT_DEBS} = true \); then apt-get update && RTI_NC_LICENSE_ACCEPTED=yes apt-get install -y rti-connext-dds-6.0.1; fi
+# 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.
+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 \
+    apt-get update && RTI_NC_LICENSE_ACCEPTED=yes apt-get install -y rti-connext-dds-7.3.0-ros; \
+  fi; \
+    fi
 
 # Install the RTI dependencies.
 RUN if test ${PLATFORM} = x86; then apt-get update && apt-get install --no-install-recommends -y default-jre-headless; fi
 
 # Install dependencies for RTI web binaries install script.
 RUN apt-get update && apt-get install --no-install-recommends -y python3-pexpect
 
-# Get and install the RTI web binaries.
-# Connext 6.0.1 for jammy, the evaluation bundles don't contain security extensions so we need to distribute the pro binaries to ourselves.
+# Get and install the RTI Connext web binaries.
+# RTI Connext web binaries installation is only supported on x86_64.
 COPY rticonnextdds-src/ /tmp/rticonnextdds-src
-RUN 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 \
+
+# Join the correct Connext version files based on the value of ROS_DISTRO.
+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 \
+  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
-RUN chmod 755 /tmp/rticonnextdds-src/rti_connext_dds-6.0.1-pro-host-x64Linux.run
+  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
 
 # Add the connextdds installation script used in entry_point.sh
 ADD rti_web_binaries_install_script.py /tmp/rti_web_binaries_install_script.py
@@ -226,6 +245,9 @@ RUN apt-get update && apt-get install -y \
 RUN update-ccache-symlinks
 
 ENV DISPLAY=:99
+# Making the RTI Connext env variable to the entry_point.sh script so that it can be used to run
+# the RTI Connext installation script.
+ENV ROS_DISTRO=${ROS_DISTRO}
 
 # Create a user to own the build output.
 RUN useradd -u 1234 -m rosbuild

linux_docker_resources/Dockerfile-RHEL

@@ -185,17 +185,29 @@ RUN dnf install \
     python3-pexpect \
     --refresh -y
 
-# Get and install the RTI web binaries.
-# Connext 6.0.1 for humble and beyond, the evaluation bundles don't contain security extensions so we need to distribute the pro binaries to ourselves.
+# Get and install the RTI Connext web binaries.
+# RTI Connext web binaries installation is only supported on x86_64.
 COPY rticonnextdds-src/ /tmp/rticonnextdds-src
-RUN 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; \
-    chmod 755 /tmp/rticonnextdds-src/rti_connext_dds-6.0.1-pro-host-x64Linux.run;
+
+# Join the correct Connext version files based on the value of ROS_DISTRO.
+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 \
+  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
+
+# 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
+
 ADD rti_web_binaries_install_script.py /tmp/rti_web_binaries_install_script.py
 
 # Add the RTI license file.

linux_docker_resources/entry_point.sh

@@ -39,30 +39,51 @@ if [ "${ARCH}" = "x86_64" -a "${ID}" = "ubuntu" ]; then
     # Install RTI Connext DDS if we didn't find 'rmw_connextdds' within the "ignore-rmw" option strings.
     if [ -z "${IGNORE_CONNEXTDDS}" ]; then
         echo "Installing Connext..."
+
+        export CONNEXT_FULL_VERSION="7.3.0"
+        export CONNEXT_DISPLAY_VERSION="$CONNEXT_FULL_VERSION"
+        if [ "${ROS_DISTRO}" = "jazzy" ] || [ "${ROS_DISTRO}" = "humble" ]; then
+            export CONNEXT_FULL_VERSION="6.0.1.25"
+            export CONNEXT_DISPLAY_VERSION="${CONNEXT_FULL_VERSION%.*}"
+        fi
+
         case "${CI_ARGS}" in
           *--connext-debs*)
             echo "Using Debian package of Connext"
-            if test -r /opt/rti.com/rti_connext_dds-6.0.1/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.sh; then
-                echo "Sourcing RTI setenv script /opt/rti.com/rti_connext_dds-6.0.1/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.sh"
-                . /opt/rti.com/rti_connext_dds-6.0.1/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.sh
+            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-${CONNEXT_DISPLAY_VERSION}/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.sh
             fi
             ;;
           *)
             echo "Installing Connext binaries off RTI website..."
-            if test -x /tmp/rticonnextdds-src/rti_connext_dds-6.0.1-pro-host-x64Linux.run; then
-                python3 -u /tmp/rti_web_binaries_install_script.py /tmp/rticonnextdds-src/rti_connext_dds-6.0.1-pro-host-x64Linux.run \
-                    /home/rosbuild/rti_connext_dds-6.0.1 --rtipkg_paths \
-                    /tmp/rticonnextdds-src/rti_connext_dds-6.0.1.25-pro-host-x64Linux.rtipkg \
-                    /tmp/rticonnextdds-src/rti_connext_dds-6.0.1.25-pro-target-x64Linux4gcc7.3.0.rtipkg \
-                    /tmp/rticonnextdds-src/openssl-1.1.1k-6.0.1.25-host-x64Linux.rtipkg \
-                    /tmp/rticonnextdds-src/rti_security_plugins-6.0.1.25-host-x64Linux.rtipkg \
-                    /tmp/rticonnextdds-src/rti_security_plugins-6.0.1.25-target-x64Linux4gcc7.3.0.rtipkg
+            if test -x /tmp/rticonnextdds-src/rti_connext_dds-${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 \
+                "
+                connext_base_architecture="x64Linux3gcc4.8.2"
+                if [ "${CONNEXT_FULL_VERSION}" = "6.0.1.25" ]; then
+                    rtipkg_list="\
+                    /tmp/rticonnextdds-src/rti_connext_dds-${CONNEXT_FULL_VERSION}-pro-host-x64Linux.rtipkg \
+                    /tmp/rticonnextdds-src/openssl-1.1.1k-${CONNEXT_FULL_VERSION}-host-x64Linux.rtipkg \
+                    /tmp/rticonnextdds-src/rti_security_plugins-${CONNEXT_FULL_VERSION}-host-x64Linux.rtipkg \
+                    /tmp/rticonnextdds-src/rti_security_plugins-${CONNEXT_FULL_VERSION}-target-x64Linux4gcc7.3.0.rtipkg \
+                    "
+                    connext_base_architecture="x64Linux2.6gcc4.4.5"
+                fi
+                python3 -u /tmp/rti_web_binaries_install_script.py /tmp/rticonnextdds-src/rti_connext_dds-${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
                 if [ $? -ne 0 ]; then
                     echo "Connext not installed correctly (maybe you're on an ARM machine?)." >&2
                     exit 1
                 fi
-                export CONNEXTDDS_DIR=/home/rosbuild/rti_connext_dds-6.0.1
-                export RTI_OPENSSL_LIBS=$CONNEXTDDS_DIR/resource/app/lib/x64Linux2.6gcc4.4.5
+                export CONNEXTDDS_DIR=/home/rosbuild/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}
+                export RTI_OPENSSL_LIBS=$CONNEXTDDS_DIR/resource/app/lib/${connext_base_architecture}
             else
                 echo "No connext installation files found found." >&2
                 exit 1
@@ -84,4 +105,4 @@ sed -i -e "s/rosbuild:x:$ORIG_GID:/rosbuild:x:$GID:/" /etc/group
 chown -R ${UID}:${GID} "${ORIG_HOME}"
 echo "done."
 
-exec sudo -H -u rosbuild -E -- xvfb-run -s "-ac -screen 0 1280x1024x24" /bin/sh -c "$*"
+exec sudo -H -u rosbuild -E -- xvfb-run -s "-ac -screen 0 1280x1024x24" /bin/sh -c "$*"

windows_docker_resources/Dockerfile

@@ -43,24 +43,24 @@ RUN pixi --color never --no-progress -q list
 
 # Setup environment variables needed for Connext
 ENV RTI_LICENSE_FILE C:\connext\rti_license.dat
-ENV CONNEXTDDS_DIR C:\connext\rti_connext_dds-6.0.1
-ENV RTI_OPENSSL_BIN C:\connext\openssl-1.1.1k\x64Win64VS2017\bin
-ENV RTI_OPENSSL_LIB C:\connext\openssl-1.1.1k\x64Win64VS2017\lib
+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
 
 # 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-6.0.1-pro-host-x64Win64.exe.??? C:\TEMP\rticonnextdds-src\rti_connext_dds-6.0.1-pro-host-x64Win64.exe
-RUN copy /b C:\TEMP\rticonnextdds-src\rti_connext_dds-6.0.1-pro-target-x64Win64VS2017.rtipkg.??? C:\TEMP\rticonnextdds-src\rti_connext_dds-6.0.1-pro-target-x64Win64VS2017.rtipkg
+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
 COPY rticonnextdds-license\rti_license.dat $RTI_LICENSE_FILE
 
 # Install Connext
-RUN pixi run 7z x -oC:\connext C:\TEMP\rticonnextdds-src\openssl-1.1.1k-target-x64Win64VS2017.zip
-RUN C:\TEMP\rticonnextdds-src\rti_connext_dds-6.0.1-pro-host-x64Win64.exe --mode unattended --unattendedmodeui minimalWithDialogs --prefix C:\connext
-RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\openssl-1.1.1k-6.0.1.25-host-x64Win64.rtipkg
-RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\rti_connext_dds-6.0.1-pro-target-x64Win64VS2017.rtipkg
-RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\rti_security_plugins-6.0.1.25-host-x64Win64.rtipkg
-RUN %CONNEXTDDS_DIR%\bin\rtipkginstall.bat -u C:\TEMP\rticonnextdds-src\rti_security_plugins-6.0.1.25-target-x64Win64VS2017.rtipkg
+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
 
 # Note that this *must* be in shell form, not exec form, so Docker on Windows appropriately substitutes %CI_ARGS%
 WORKDIR C:\ci