use fog-ros-sdk:sha-b1c429f

Dockerfile

@@ -1,5 +1,5 @@
 # Given dynamically from CI job.
-FROM --platform=${BUILDPLATFORM:-linux/amd64} ghcr.io/tiiuae/fog-ros-sdk:sha-f8defd3-${TARGETARCH:-amd64} AS builder
+FROM --platform=${BUILDPLATFORM:-linux/amd64} ghcr.io/tiiuae/fog-ros-sdk:sha-b1c429f-${TARGETARCH:-amd64} AS builder
 
 # Must be defined another time after "FROM" keyword.
 ARG TARGETARCH
@@ -14,7 +14,7 @@ RUN /packaging/build_colcon_sdk.sh ${TARGETARCH:-amd64}
 # Even though it is possible to tar the install directory for retrieving it later in runtime image,
 # the tar extraction in arm64 emulated on arm64 is still slow. So, we copy the install directory instead
 
-FROM ghcr.io/tiiuae/fog-ros-baseimage:sha-71b9710
+FROM ghcr.io/tiiuae/fog-ros-baseimage:feat-multiarch-pkcs11
 
 HEALTHCHECK --interval=5s \
 	CMD fog-health check --metric=rplidar_scan_count --diff-gte=1.0 \
@@ -25,6 +25,11 @@ HEALTHCHECK --interval=5s \
 # DRONE_AIRFRAME is by default "t-drone". However, it can be set to "holybro"
 ENTRYPOINT [ "/entrypoint.sh" ]
 
+RUN apt update \
+    && apt install -y --no-install-recommends \
+		gz-transport12 \
+    && rm -rf /var/lib/apt/lists/*
+
 COPY entrypoint.sh /entrypoint.sh
 
 # WORKSPACE_DIR environment variable is defined in the fog-ros-baseimage.