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feat: add cyclonedds setting #110

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merged 5 commits into from
Sep 25, 2024
Merged

feat: add cyclonedds setting #110

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58992fd
feat: add cyclonedds setting
masahiro-kubota Sep 24, 2024
d8d1565
fix cyclonedds and localhost setting
masahiro-kubota Sep 24, 2024
1d0a942
refactor
masahiro-kubota Sep 24, 2024
fd64905
Merge branch 'main' into feat(docker)/add-cyclonedds-setting
isamu-takagi Sep 25, 2024
94fb65e
change dds config path
isamu-takagi Sep 25, 2024
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5 changes: 4 additions & 1 deletion Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV ROS_DOMAIN_ID=71
ENV CYCLONEDDS_URI=file:///workspace/cyclonedds.xml


FROM common AS dev

Expand All @@ -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

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18 changes: 18 additions & 0 deletions cyclonedds.xml
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@@ -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>