Update CI to use Connext 7.7.0

[fgallegosalido]

Description

This PR aims to update the CI to enable testing of rmw_connextdds once the rti_connext_dds-7.7.0 packages are available in the upstream ROS 2 repositories.

Fixes #843

Is this user-facing behavior change?

The CI will now use Connext 7.7.0 to build on both lyrical and rolling.

Did you use Generative AI?

No

Additional Information

@mjcarroll, we may need help with uploading the packages to the internal ROS 2 servers.

[cottsay]

Preliminary test builds:

• Linux
• Linux-rhel
• Windows

[lobolanja]

Hi @cottsay,

I think we’ll need to run this using a custom repos file that includes all the PRs and branches listed in this task:
ros2/rmw_connextdds#218

I believe @fgallegosalido created it, but I’m not sure where it is, and he’s currently on vacation.

[lobolanja]

Hi @cottsay, could you please re-run the build? I’ve fixed the uncrustify issues, so it should be clean now.

Also, please ignore my previous comment about the repos file, that was on me, I missed the build parameter being used.

[cottsay]

Fresh CI:

• Linux
• Linux (Kilted)
• Linux-rhel
• Windows
• Windows (Kilted)

[cottsay]

Looks like this would switch all future builds to using 7.7.0 on Windows. I think that would prevent us from building patch releases for older distributions.

[lobolanja]

Hi @cottsay, it’s getting late here in Spain, so I’ll take a closer look tomorrow and see if there’s a better way to handle this.

Regarding the Ubuntu failure, it seems it’s trying to use Connext 7.7 when it should be picking up 7.3. I’ll investigate and propose a fix once I’m back online.

[fgallegosalido]

@cottsay could you re-run the CI? There was a mix between a couple of variables and the correct RTI packages weren't being retrieved.

[lobolanja]

@cottsay could you re-run the CI? There was a mix between a couple of variables and the correct RTI packages weren't being retrieved.

The previous message from @fgallegosalido is regarding fixing for the Linux build.

For Windows, we are working on adding a PowerShell-based installation script. The implementation is almost ready, but we ran into an issue with the Windows machine we were using today, so we could not complete the changes to the Dockerfile and the installation flow.

We will coordinate with IT tomorrow to get our Windows development machine back up and finish the work.

[cottsay]

• Linux
• Linux (Kilted)
• Linux-rhel
• Windows
• Windows (Kilted)

[fgallegosalido]

@ahcorde @cottsay could you run the Linux build for Kilted without using the branch feature/218-update-connext-770? That branch is targeting rolling, and the automerge to kilted is failing. @lobolanja is still working on the Windows logic to support multiple versions.

[cottsay]

• Linux
• Linux (Kilted)
• Linux-rhel
• Windows
• Windows (Kilted)

[lobolanja]

@cottsay for some reason the build did not pick up commit b09757c.

This is the commit that fixes the Windows Kilted issue.

Can you re-run?

[cottsay]

for some reason the build did not pick up commit b09757c

Ah, apologies, that was my fault.

• Linux
• Linux (Kilted)
• Linux-rhel
• Windows
• Windows (Kilted)

[lobolanja]

@cottsay , the Windows Kilted build failed while compiling Fast CDR with a GTest-related error, which shouldn’t be affected by this PR. Could you try rerunning it, just in case it was a cosmic ray passing through the RAM? 😉 In the meantime, we’ll take a look on our side in case we missed something.

* Windows [![Build Status](https://camo.githubusercontent.com/09c0ee115c9fcd063683b06928ed5dc92caa3ec400405b02265f35332b98c8e9/687474703a2f2f63692e726f73322e6f72672f6275696c645374617475732f69636f6e3f6a6f623d63695f77696e646f7773266275696c643d3237343233)](http://ci.ros2.org/job/ci_windows/27423/) (Kilted)

[lobolanja]

Re-run of windows kilted

Kilted

[cottsay]

Here's what caused the Fast-CDR regression: eProsima/Fast-CDR#303

[fgallegosalido]

@cottsay I believe this is safe to merge. The rest of the system is stable, and it should work in Kilted as well. In any case, the RTI team will be available this week to help stabilize any issues that may arise.

[lobolanja]

@cottsay, I believe this is safe to merge. The rest of the system is stable, and it should work in Kilted as well (at the en is just a powershell script installing connext).

The RTI team will be available this week to help stabilize any issues that may arise.

Do you think we can proceed with the merge?

[cottsay]

I crafted a build with that change reverted:

I think that build should turn around in about 50 minutes. If it shows okay, we can merge this.

[cottsay]

More builds:

• Linux (via Debian packages)
• Linux (Kilted) (via Debian packages)

[fgallegosalido]

@cottsay everything looks green finally!

[cottsay]

Yes, builds all look green.

I'm tracking some problems with the new powershell script, but it's not critical and we don't really have time to solve it right now :(

1. Setting $ErrorActionPreference = "Stop" doesn't check that the external command invocations using cmd /c are succeeding. I think that may need to be done explicitly.
2. The SecurityHostInstaller and SecurityTargetInstaller file names are wrong for Kilted and are missing -openssl-3.0 near the end.

[lobolanja]

@cottsay Are we good to proceed with the merge?

We can take care of the RMW part if you prefer, and you can handle the rest, or let me know how you’d like to split it.

[lobolanja]

@cottsay we can fix those issues in stabilization right?

[cottsay]

we can fix those issues in stabilization right?

I would have preferred that we wouldn't have had to regress non-Rolling packaging jobs, but we don't really have another option. Please open a new PR to fix (1) and (2) ASAP.

[lobolanja]

we can fix those issues in stabilization right?

I would have preferred that we wouldn't have had to regress non-Rolling packaging jobs, but we don't really have another option. Please open a new PR to fix (1) and (2) ASAP.

Thanks Scott, that makes sense.

We’ll open a PR tomorrow morning to address (1) and (2) and get it in as soon as possible.

We’ll also keep an eye on stabilization and help resolve any follow-up issues that may come up.

Thanks again for your support.