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Enable ARM jobs for Connext RMW #853

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Enable ARM jobs for Connext RMW #853

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adeeaf1
Enable ARM jobs for Connext RMW
fgallegosalido Mar 10, 2026
59f5573
Remove changes not related to this pr
fgallegosalido Mar 16, 2026
a61e6f7
Refactor Connext installation into a new function and use the correct…
fgallegosalido Mar 19, 2026
e776201
Revert formatting
fgallegosalido Mar 24, 2026
a0e60e4
Early exit when the rmw_connextdds is ignored
fgallegosalido Mar 24, 2026
c5c7036
Fix condition to only install Connext Debians for Humble and Jazzy in…
fgallegosalido Mar 26, 2026
2055511
Merge branch 'master' into feature/852-aarch64-connextdds-support
fgallegosalido Apr 27, 2026
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5 changes: 2 additions & 3 deletions create_jenkins_job.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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': {
Expand Down Expand Up @@ -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,
Expand Down
24 changes: 17 additions & 7 deletions linux_docker_resources/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -155,16 +155,19 @@ 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 \
if test \( ${ROS_DISTRO} = humble -o ${ROS_DISTRO} = jazzy \); then \
RUN \
if test ${INSTALL_CONNEXT_DEBS} = true; then \
if test \( ${PLATFORM} = x86 -a \( ${ROS_DISTRO} = humble -o ${ROS_DISTRO} = jazzy \) \); then \
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apt-get update && RTI_NC_LICENSE_ACCEPTED=yes apt-get install -y rti-connext-dds-6.0.1; \
elif test \( ${PLATFORM} = x86 -a ${ROS_DISTRO} = kilted \); then \
apt-get update && RTI_NC_LICENSE_ACCEPTED=yes apt-get install -y rti-connext-dds-7.3.0-ros; \
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
Expand All @@ -174,20 +177,27 @@ RUN apt-get update && apt-get install --no-install-recommends -y python3-pexpect
COPY rticonnextdds-src/ /tmp/rticonnextdds-src

# Join the correct Connext version files based on the value of ROS_DISTRO.
RUN if test ${ROS_DISTRO} = jazzy -o ${ROS_DISTRO} = humble; then \
RUN \
if test ${ROS_DISTRO} = jazzy -o ${ROS_DISTRO} = humble; then \
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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 \
elif test ${ROS_DISTRO} = kilted; then \
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; \
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
Expand Down
13 changes: 11 additions & 2 deletions linux_docker_resources/entry_point.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,8 @@ 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
# We only attempt to install Connext on Ubuntu amd64 or aarch64
if [ "${ID}" = "ubuntu" ]; then
IGNORE_CONNEXTDDS=""
ignore_rwm_seen="false"
for arg in ${CI_ARGS} ; do
Expand All @@ -50,13 +50,22 @@ if [ "${ARCH}" = "x86_64" -a "${ID}" = "ubuntu" ]; then

case "${CI_ARGS}" in
*--connext-debs*)
# Installing Connext through Debian packages is supported on both x86_64 and aarch64 architectures. If we're on an unsupported architecture, skip the installation and exit with an error.
echo "Using Debian package of Connext"
if test -r /opt/rti.com/rti_connext_dds-${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
;;
*)
# 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 and
# exit with an error.
if [ "${ARCH}" != "x86_64" ]; then
echo "Connext is only supported on amd64 architecture. Skipping Connext installation." >&2
exit 1
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@cottsay cottsay Mar 13, 2026

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Existing behavior is to quietly skip connext installation on aarch64 even if requested. While this PR enables the deb installation scenario, I think we should continue the existing behavior and not fail the build if non-deb installation is requested.

The main scenario here is that someone might trigger a job from the launcher that uses the non-deb Connext installation. I don't think it would be a good experience if the aarch64 builds suddenly start failing and require re-running with connext disabled.

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@fgallegosalido fgallegosalido Mar 16, 2026

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There are a couple of places where we do exit 1. Should we remove those too so that the build doesn't fail?

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@cottsay cottsay Mar 19, 2026 •
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Should we remove those too so that the build doesn't fail?

It's totally appropriate to raise a critical error if something is expected to work and doesn't. This case is different though - it's not supported and is not expected to work, and the previous behavior for that scenario (requesting Connext via binaries on arm64) was to quietly continue the build.

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@fgallegosalido fgallegosalido Mar 19, 2026 •
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I refactored the Connext installation into a new function, maintaining the same behavior as before. Let me know what you think and launch a validation as soon as you feel okay with the code.

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
rtipkg_list="\
Expand Down