Enable ARM jobs for Connext RMW

create_jenkins_job.py

@@ -146,7 +146,8 @@ def main(argv=None):
         'linux-aarch64': {
             'label_expression': 'linux_aarch64',
             'shell_type': 'Shell',
-            'ignore_rmw_default': data['ignore_rmw_default'] | {'rmw_connextdds'},
+            'ignore_rmw_default': data['ignore_rmw_default'],
+            'use_connext_debs_default': 'true',
             'test_args_default': re.sub(r'(--ctest-args +-LE +)"?([^ "]+)"?', r'\1"(mimick|\2)"', data['test_args_default']),
         },
         'linux-rhel': {
@@ -206,8 +207,6 @@ def create_job(os_name, job_name, template_file, additional_dict):
 
         # configure a manual version of the packaging job
         ignore_rmw_default_packaging = set()
-        if os_name in ['linux-aarch64']:
-            ignore_rmw_default_packaging |= {'rmw_connextdds'}
         create_job(os_name, 'ci_packaging_' + os_name, 'packaging_job.xml.em', {
             'cmake_build_type': 'RelWithDebInfo',
             'label_expression': packaging_label_expression,

linux_docker_resources/Dockerfile

@@ -153,18 +153,22 @@ 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. 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 \
+# Install the Connext binary from the OSRF repositories. if ROS_DISTRO is humble or jazzy and
+# PLATFORM is x86, then install rti-connext-dds-6.0.1. Otherwise, install
+# rti-connext-dds-7.3.0-ros.
+RUN \
+if test ${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; \
+    if test ${PLATFORM} = x86; then \
+      apt-get update && RTI_NC_LICENSE_ACCEPTED=yes apt-get install -y rti-connext-dds-6.0.1; \
+    fi; \
   else \
     apt-get update && RTI_NC_LICENSE_ACCEPTED=yes apt-get install -y rti-connext-dds-7.3.0-ros; \
   fi; \
-    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
+RUN apt-get update && apt-get install --no-install-recommends -y default-jre-headless
 
 # Install dependencies for RTI web binaries install script.
 RUN apt-get update && apt-get install --no-install-recommends -y python3-pexpect
@@ -181,13 +185,13 @@ RUN if test ${ROS_DISTRO} = jazzy -o ${ROS_DISTRO} = humble; then \
     /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 \
+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
+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

linux_docker_resources/entry_point.sh

@@ -25,79 +25,107 @@ echo "done."
 . /etc/os-release
 VERSION_ID_MAJOR=$(echo $VERSION_ID | sed 's/\..*//')
 
-# We only attempt to install Connext on Ubuntu amd64
-if [ "${ARCH}" = "x86_64" -a "${ID}" = "ubuntu" ]; then
-    IGNORE_CONNEXTDDS=""
+# Function to install Connext DDS.
+install_connextdds() {
+    # We only attempt to install Connext on Ubuntu
+    if [ "${ID}" != "ubuntu" ]; then
+        echo "Connext installation is only supported on Ubuntu. Skipping Connext installation."
+        return 0
+    fi
+
+    # Check if the "ignore-rmw" CI argument contains "rmw_connextdds" and exit if it does.
     ignore_rwm_seen="false"
     for arg in ${CI_ARGS} ; do
         case $arg in
             ("--ignore-rmw") ignore_rmw_seen="true" ;;
             ("-"*) ignore_rmw_seen="false" ;;
-            (*) if [ $ignore_rmw_seen = "true" ] ; then [ $arg = "rmw_connextdds" ] && IGNORE_CONNEXTDDS="true" && break ; fi
+            (*)
+                if [ $ignore_rmw_seen = "true" ] && [ $arg = "rmw_connextdds" ]; then
+                    echo "Ignoring installation of Connext."
+                    return 0
+                fi
+                ;;
         esac
     done
 
-    # Install RTI Connext DDS if we didn't find 'rmw_connextdds' within the "ignore-rmw" option strings.
-    if [ -z "${IGNORE_CONNEXTDDS}" ]; then
-        echo "Installing Connext..."
+    echo "Installing Connext..."
+    export CONNEXT_FULL_VERSION="7.3.0"
+    export CONNEXT_DISPLAY_VERSION="$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
 
-        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%.*}"
+    case "${CI_ARGS}" in
+    *--connext-debs*)
+        connext_installation_dir="/opt/rti.com/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}"
+        setenv_script_dir="${connext_installation_dir}/resource/scripts"
+
+        # Installing Connext through Debian packages is supported on both x86_64 and aarch64 architectures. If we're on an unsupported architecture, skip the installation.
+        echo "Using Debian package of Connext"
+        if test -r ${setenv_script_dir}/rtisetenv_x64Linux4gcc7.3.0.sh; then
+            echo "Sourcing RTI setenv script ${setenv_script_dir}/rtisetenv_x64Linux4gcc7.3.0.sh"
+            . ${setenv_script_dir}/rtisetenv_x64Linux4gcc7.3.0.sh
+        elif test -r ${setenv_script_dir}/rtisetenv_armv8Linux4gcc7.3.0.sh; then
+            echo "Sourcing RTI setenv script ${setenv_script_dir}/rtisetenv_armv8Linux4gcc7.3.0.sh"
+            . ${setenv_script_dir}/rtisetenv_armv8Linux4gcc7.3.0.sh
+        else
+            echo "No Connext installation through Debian packages found. Skipping Connext installation."
+            return 0
+        fi
+        ;;
+    *)
+        # Support for installing Connext through the RTI website installers is only supported on
+        # x86_64 architecture. If we're on a different architecture, skip the installation.
+        if [ "${ARCH}" != "x86_64" ]; then
+            echo "Connext through RTI packages is only supported on amd64 architecture. Skipping Connext installation."
+            return 0
         fi
 
-        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
-            fi
-            ;;
-          *)
-            echo "Installing Connext binaries off RTI website..."
-            if test -x /tmp/rticonnextdds-src/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}-pro-host-x64Linux.run; then
+        echo "Installing Connext binaries off RTI website..."
+        if test -x /tmp/rticonnextdds-src/rti_connext_dds-${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 \
+            "
+            connext_base_architecture="x64Linux3gcc4.8.2"
+            if [ "${CONNEXT_FULL_VERSION}" = "6.0.1.25" ]; then
                 rtipkg_list="\
-                /tmp/rticonnextdds-src/openssl-3.0.12-${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-${CONNEXT_FULL_VERSION}-target-openssl-3.0-x64Linux4gcc7.3.0.rtipkg \
+                /tmp/rticonnextdds-src/rti_connext_dds-${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-${CONNEXT_FULL_VERSION}-target-x64Linux4gcc7.3.0.rtipkg \
                 "
-                connext_base_architecture="x64Linux3gcc4.8.2"
-                if [ "${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 [ $? -ne 0 ]; then
-                    echo "Connext not installed correctly (maybe you're on an ARM machine?)." >&2
-                    exit 1
-                fi
-                export CONNEXTDDS_DIR=/home/rosbuild/rti_connext_dds-${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
+                connext_base_architecture="x64Linux2.6gcc4.4.5"
             fi
-            mv /tmp/rti_license.dat /home/rosbuild/rti_license.dat
-            export RTI_LICENSE_FILE=/home/rosbuild/rti_license.dat
-            ;;
-        esac
-        echo "done."
-    else
-        echo "NOT installing Connext."
-    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 [ $? -ne 0 ]; then
+                echo "Connext not installed correctly (maybe you're on an ARM machine?)." >&2
+                return 1
+            fi
+            export CONNEXTDDS_DIR=/home/rosbuild/rti_connext_dds-${CONNEXT_DISPLAY_VERSION}
+            export RTI_OPENSSL_LIBS=$CONNEXTDDS_DIR/resource/app/lib/${connext_base_architecture}
+        else
+            echo "No connext installation files found found." >&2
+            return 1
+        fi
+        mv /tmp/rti_license.dat /home/rosbuild/rti_license.dat
+        export RTI_LICENSE_FILE=/home/rosbuild/rti_license.dat
+        ;;
+    esac
+    return 0
+}
+
+if ! install_connextdds; then
+    echo "Connext installation failed. Exiting." >&2
+    exit 1
 fi
+echo "done."
 
 echo "Fixing permissions..."
 sed -i -e "s/:$ORIG_UID:$ORIG_GID:/:$UID:$GID:/" /etc/passwd