From 58992fd0efecc4f68230a22d7a621742f46ae42b Mon Sep 17 00:00:00 2001
From: Masahiro Kubota <norikenpi@gmail.com>
Date: Tue, 24 Sep 2024 21:03:49 +0900
Subject: [PATCH 1/4] feat: add cyclonedds setting

Signed-off-by: Masahiro Kubota <norikenpi@gmail.com>
---
 Dockerfile     |  5 ++++-
 cyclonedds.xml | 18 ++++++++++++++++++
 2 files changed, 22 insertions(+), 1 deletion(-)
 create mode 100644 cyclonedds.xml

diff --git a/Dockerfile b/Dockerfile
index 7d324e69..cf6a5c15 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -11,8 +11,10 @@ RUN apt-get -y install ros-humble-rqt-graph
 # PATH="$PATH:/root/.local/bin"
 # PATH="/usr/local/cuda/bin:$PATH"
 ENV XDG_RUNTIME_DIR=/tmp/xdg
-ENV ROS_LOCALHOST_ONLY=0
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV ROS_DOMAIN_ID=71
+ENV CYCLONEDDS_URI=file:///workspace/cyclonedds.xml
+
 
 FROM common AS dev
 
@@ -31,6 +33,7 @@ RUN chmod 757 /aichallenge
 
 COPY aichallenge/simulator/ /aichallenge/simulator/
 COPY submit/aichallenge_submit.tar.gz /ws
+COPY cyclonedds.xml workspace/cyclonedds.xml
 RUN tar zxf /ws/aichallenge_submit.tar.gz -C /aichallenge/workspace/src
 RUN rm -rf /ws
 
diff --git a/cyclonedds.xml b/cyclonedds.xml
new file mode 100644
index 00000000..37d2ba05
--- /dev/null
+++ b/cyclonedds.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+  <Domain Id="any">
+    <General>
+      <Interfaces>
+	      <NetworkInterface autodetermine="false" name="lo" priority="default" multicast="default" />
+      </Interfaces>
+      <AllowMulticast>default</AllowMulticast>
+      <MaxMessageSize>65500B</MaxMessageSize>
+    </General>
+    <Internal>
+      <SocketReceiveBufferSize min="10MB"/>
+      <Watermarks>
+        <WhcHigh>500kB</WhcHigh>
+      </Watermarks>
+    </Internal>
+  </Domain>
+</CycloneDDS>

From d8d156552de3a3dbda05c7d80bb6bf2653bc0fd6 Mon Sep 17 00:00:00 2001
From: Masahiro Kubota <norikenpi@gmail.com>
Date: Tue, 24 Sep 2024 22:50:01 +0900
Subject: [PATCH 2/4] fix cyclonedds and localhost setting

Signed-off-by: Masahiro Kubota <norikenpi@gmail.com>
---
 Dockerfile | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index cf6a5c15..8717c3e2 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -11,9 +11,10 @@ RUN apt-get -y install ros-humble-rqt-graph
 # PATH="$PATH:/root/.local/bin"
 # PATH="/usr/local/cuda/bin:$PATH"
 ENV XDG_RUNTIME_DIR=/tmp/xdg
+ENV ROS_LOCALHOST_ONLY=0
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 ENV ROS_DOMAIN_ID=71
-ENV CYCLONEDDS_URI=file:///workspace/cyclonedds.xml
+ENV CYCLONEDDS_URI=file:///aichallenge/workspace/cyclonedds.xml
 
 
 FROM common AS dev
@@ -33,7 +34,7 @@ RUN chmod 757 /aichallenge
 
 COPY aichallenge/simulator/ /aichallenge/simulator/
 COPY submit/aichallenge_submit.tar.gz /ws
-COPY cyclonedds.xml workspace/cyclonedds.xml
+COPY cyclonedds.xml aichallenge/workspace/cyclonedds.xml
 RUN tar zxf /ws/aichallenge_submit.tar.gz -C /aichallenge/workspace/src
 RUN rm -rf /ws
 

From 1d0a9422cef10f1e4b0aecf68a3c19fc21365321 Mon Sep 17 00:00:00 2001
From: Masahiro Kubota <norikenpi@gmail.com>
Date: Tue, 24 Sep 2024 22:51:27 +0900
Subject: [PATCH 3/4] refactor

Signed-off-by: Masahiro Kubota <norikenpi@gmail.com>
---
 Dockerfile | 1 -
 1 file changed, 1 deletion(-)

diff --git a/Dockerfile b/Dockerfile
index 8717c3e2..73fc929d 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -16,7 +16,6 @@ ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 ENV ROS_DOMAIN_ID=71
 ENV CYCLONEDDS_URI=file:///aichallenge/workspace/cyclonedds.xml
 
-
 FROM common AS dev
 
 ENV RCUTILS_COLORIZED_OUTPUT=1

From 94fb65e8cf111f0ef7aafd3b0dbdfe2d36a744ff Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <isamu.takagi@tier4.jp>
Date: Wed, 25 Sep 2024 15:37:01 +0900
Subject: [PATCH 4/4] change dds config path

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 Dockerfile | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 73fc929d..b8ab1752 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -14,7 +14,9 @@ ENV XDG_RUNTIME_DIR=/tmp/xdg
 ENV ROS_LOCALHOST_ONLY=0
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 ENV ROS_DOMAIN_ID=71
-ENV CYCLONEDDS_URI=file:///aichallenge/workspace/cyclonedds.xml
+ENV CYCLONEDDS_URI=file:///opt/autoware/cyclonedds.xml
+
+COPY cyclonedds.xml /opt/autoware/cyclonedds.xml
 
 FROM common AS dev
 
@@ -33,7 +35,6 @@ RUN chmod 757 /aichallenge
 
 COPY aichallenge/simulator/ /aichallenge/simulator/
 COPY submit/aichallenge_submit.tar.gz /ws
-COPY cyclonedds.xml aichallenge/workspace/cyclonedds.xml
 RUN tar zxf /ws/aichallenge_submit.tar.gz -C /aichallenge/workspace/src
 RUN rm -rf /ws