Build Zenoh in a separate workspace

docker/robot/Dockerfile

@@ -30,9 +30,6 @@ RUN apt update -qq && apt install -y --no-install-recommends \
       tmux \
     && rm -rf /var/lib/apt/lists/*
 
-RUN mkdir -p /root/ros2_ws/src
-WORKDIR /root/ros2_ws/src
-
 # install ROS additional packages needed for application
 RUN apt update -qq && apt install -y --no-install-recommends \
       ros-${ROS_DISTRO}-xacro \
@@ -41,8 +38,21 @@ RUN apt update -qq && apt install -y --no-install-recommends \
 
 # Install rmw_zenoh
 # Latest version as of writing
+
+RUN mkdir -p /root/zenoh_ws/src
+WORKDIR /root/zenoh_ws/src
 RUN git clone https://github.com/ros2/rmw_zenoh.git && cd rmw_zenoh && git reset --hard dd82e84 && cd ..
 
+WORKDIR /root/zenoh_ws
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash \
+ && apt-get update -y \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
+ && colcon build --symlink-install --event-handlers console_cohesion+\
+ && rm -rf /var/lib/apt/lists/*"
+
+RUN mkdir -p /root/ros2_ws/src
+WORKDIR /root/ros2_ws/src
+
 COPY ./neato_description /root/ros2_ws/src/neato_description
 COPY ./neato_ros2_python /root/ros2_ws/src/neato_ros2_python
 COPY ./neato_bringup /root/ros2_ws/src/neato_bringup

docker/robot/entrypoint.sh

@@ -4,6 +4,9 @@
 # Source ROS 2
 source /opt/ros/${ROS_DISTRO}/setup.bash
 
+# Source the Zenoh workspace, if built
+source /root/zenoh_ws/install/setup.bash
+
 # Source the overlay workspace, if built
 source /root/ros2_ws/install/setup.bash