Use Zenoh instead of cycloneDDS

docker/operator/Dockerfile

@@ -3,16 +3,26 @@ ARG ROS_DISTRO=jazzy
 FROM ros:${ROS_DISTRO}-ros-base
 
 RUN apt update && apt-get install -y --no-install-recommends \
-        ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
         ros-${ROS_DISTRO}-desktop \
         iproute2 \
         net-tools \
     && rm -rf /var/lib/apt/lists/*
 
-# Prepare CycloneDDS config file
-COPY ./docker/operator/cyclonedds.xml /cyclonedds.xml
-ENV CYCLONEDDS_URI=file:///cyclonedds.xml
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+RUN mkdir -p /root/ros2_ws/src
+WORKDIR /root/ros2_ws/src
+# Install rmw_zenoh
+# Latest version as of writing
+RUN git clone https://github.com/ros2/rmw_zenoh.git && cd rmw_zenoh && git reset --hard dd82e84 && cd ..
+
+# Configure Zenoh
+ENV RMW_IMPLEMENTATION=rmw_zenoh_cpp
+
+WORKDIR /root/ros2_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/*"
 
 # Set up entrypoint
 COPY ./docker/operator/entrypoint.sh /

docker/robot/Dockerfile

@@ -36,7 +36,6 @@ WORKDIR /root/ros2_ws/src
 # install ROS additional packages needed for application
 RUN apt update -qq && apt install -y --no-install-recommends \
       ros-${ROS_DISTRO}-xacro \
-      ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
       ros-${ROS_DISTRO}-teleop-twist-keyboard \
     && rm -rf /var/lib/apt/lists/*