attempt to build ddsrouter

.devcontainer/Dockerfile

@@ -44,7 +44,15 @@ RUN apt-get update \
     libgflags-dev \
     nlohmann-json3-dev \
     ros-humble-image-* \
+    python3 \
+    cmake g++ pip \
+    libasio-dev \
+    libtinyxml2-dev \
+    libssl-dev \
+    python3-sphinx \
+    libyaml-cpp-dev \
     && rm -rf /var/lib/apt/lists/*
+
 RUN git clone https://github.com/YDLIDAR/YDLidar-SDK.git &&\
     mkdir -p YDLidar-SDK/build && \
     cd YDLidar-SDK/build &&\
@@ -82,4 +90,8 @@ ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
+COPY *repos *.sh /tmp/.devcontainer/
+RUN bash /tmp/.devcontainer/install.sh
+
+
 RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc

.devcontainer/dds.repos

@@ -0,0 +1,29 @@
+repositories:
+  foonathan_memory_vendor:
+    type: git
+    url: https://github.com/eProsima/foonathan_memory_vendor.git
+    version: v1.3.1
+  fastcdr:
+    type: git
+    url: https://github.com/eProsima/Fast-CDR.git
+    version: v1.1.0
+  fastdds:
+    type: git
+    url: https://github.com/eProsima/Fast-DDS.git
+    version: v2.11.2
+  dev-utils:
+    type: git
+    url: https://github.com/eProsima/dev-utils.git
+    version: v0.4.0
+  ddspipe:
+    type: git
+    url: https://github.com/eProsima/DDS-Pipe.git
+    version: v0.2.0
+  ddsrouter:
+    type: git
+    url: https://github.com/eProsima/DDS-Router.git
+    version: v2.0.0
+  googletest-distribution: 
+    type: git
+    url: https://github.com/google/googletest.git
+    version: release-1.11.0

.devcontainer/install.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+set -e
+
+source /opt/ros/humble/setup.bash
+#apt update
+#rosdep --rosdistro=humble update 
+pip install -U argcomplete
+
+rm -rf /opt/ros/lcas
+mkdir -p /opt/ros/lcas/src
+cd /opt/ros/lcas/src
+vcs import < /tmp/.devcontainer/dds.repos
+#rosdep install --from-paths . -r -i -y
+cd /opt/ros/lcas
+colcon build
+
+
+#cd /home/lcas/ws
+#colcon build 
+echo "source /opt/ros/lcas/install/setup.bash" >> ~/.bashrc
+

.github/workflows/docker-build.yml

@@ -70,7 +70,7 @@ jobs:
       uses: docker/setup-qemu-action@v3  
     - name: Build and push limo_ros2 for arm64
       # only build for arm if not PR to speed things up
-      if: ${{ github.event_name != 'pull_request' }} 
+      #if: ${{ github.event_name != 'pull_request' }} 
       uses: docker/build-push-action@v5
       with:
         context: .devcontainer

src/dds/ddsrouter-server.yaml

@@ -0,0 +1,46 @@
+##################################
+# CONFIGURATION VERSION
+version: v3.0                                      # 0
+
+##################################
+# ALLOWED TOPICS
+# Allowing ROS2 HelloWorld demo_nodes topic
+
+#allowlist:
+#  - name: rt/chatter                               # 1
+#    type: std_msgs::msg::dds_::String_             # 1
+
+##################################
+# PARTICIPANTS
+participants:
+
+##################################
+# SIMPLE PARTICIPANT
+# This participant will subscribe to topics in allowlist in domain 0 and listen every message published there
+
+  - name: EchoParticipant                                             # 6
+    kind: echo                                                        # 7
+    discovery: true                                                   # 8
+    data: false                                                       # 9
+    #verbose: true                                                     # 10
+
+##################################
+# ROS DISCOVERY SERVER
+# This participant will subscribe to topics in allowlist using Discovery Server protocol as Server
+
+  - name: ServerROS2                               # 5
+    kind: local-discovery-server                   # 6
+    discovery-server-guid:
+      ros-discovery-server: true                   # 7
+      id: 1                                        # 8
+    listening-addresses:                           # 9
+      - domain: localhost                          # 10
+        port: 11888                                # 11
+
+  - name: WANServer                                               # 6
+    kind: wan                                                     # 7
+    listening-addresses:                                          # 8
+      - port: 11667                                               # 10
+        external-port: 11666
+        ip: "0.0.0.0"
+        transport: tcp                                            # 11