Official ros Docker images (core and base) with the following extra modes set in DDS_CONFIG env:
HUSARNET_SIMPLE_AUTO- FastDDS Simple discovery protocol setup for Husarnet VPN. All Husarnet peers are added to<initialPeersList>section.HUSARNET_DISCOVERY_SERVER- FastDDS Discovery Server setup for Husarnet VPN. Discovery server address is set withROS_DISCOVERY_SERVERenv.ENVSUBST- bind mount a custom.xmlDDS config with custom environment variables inside and set a path to it withFASTRTPS_DEFAULT_PROFILES_FILEenv.