From ed8dd8dcdce42dd8f5a242fd66a69cf66bfd257e Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Mon, 30 Oct 2023 02:19:40 -0500 Subject: [PATCH 1/2] Remove recommendation for Cyclone due to FastDDS issues (#799) * Remove recommendation for Cyclone due to FastDDS issues * Remove cyclone config from Dockerfile (cherry picked from commit 71ee840a50794bbfd35e5b63e80fc633d89840ed) # Conflicts: # doc/tutorials/getting_started/getting_started.rst # doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst --- .docker/Dockerfile | 2 -- doc/tutorials/getting_started/getting_started.rst | 3 +++ .../quickstart_in_rviz/quickstart_in_rviz_tutorial.rst | 5 +++++ 3 files changed, 8 insertions(+), 2 deletions(-) diff --git a/.docker/Dockerfile b/.docker/Dockerfile index f6db92fcb5..c2fc2de533 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -55,7 +55,6 @@ RUN --mount=type=cache,target=/root/.ccache/ \ . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\ . "install/setup.sh" &&\ sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \ - sudo apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \ colcon build \ --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ --ament-cmake-args -DCMAKE_BUILD_TYPE=Release \ @@ -64,6 +63,5 @@ RUN --mount=type=cache,target=/root/.ccache/ \ rm -rf /var/lib/apt/lists/* && \ # Update /ros_entrypoint.sh to source our new workspace sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/install/setup.bash#g" /ros_entrypoint.sh && \ - echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /root/.bashrc && \ echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \ echo "source /root/ws_moveit/install/setup.bash" >> /root/.bashrc diff --git a/doc/tutorials/getting_started/getting_started.rst b/doc/tutorials/getting_started/getting_started.rst index 0f8e90ed59..a68ddb1be3 100644 --- a/doc/tutorials/getting_started/getting_started.rst +++ b/doc/tutorials/getting_started/getting_started.rst @@ -85,6 +85,7 @@ Optional: add the previous command to your ``.bashrc``: :: not required and often skipped by advanced users who use more than one Colcon workspace at a time, but we recommend it for simplicity. +<<<<<<< HEAD Switch to Cyclone DDS ^^^^^^^^^^^^^^^^^^^^^ @@ -94,6 +95,8 @@ As of Sep 26, 2022, the default ROS 2 middleware (RMW) implementation has an iss # You may want to add this to ~/.bashrc to source it automatically export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp +======= +>>>>>>> 71ee840 (Remove recommendation for Cyclone due to FastDDS issues (#799)) Next Step ^^^^^^^^^ Nice job! Next we will :doc:`Visualize a robot with the interactive motion planning plugin for RViz ` diff --git a/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst b/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst index 9fdc88ae7e..9745930b40 100644 --- a/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst +++ b/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst @@ -7,7 +7,12 @@ This tutorial will teach you how to create motion plans in MoveIt using RViz and Getting Started --------------- +<<<<<<< HEAD If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started ` or our :doc:`Docker Guide `. As of Sep 26, 2022, ensure you have enabled Cyclone DDS as described there. +======= +If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started ` or our :doc:`Docker Guide `. +If you followed the Docker Guide, also follow the :ref:`create_colcon_workspace` guide onwards to set up the tutorials. +>>>>>>> 71ee840 (Remove recommendation for Cyclone due to FastDDS issues (#799)) Step 1: Launch the Demo and Configure the Plugin ------------------------------------------------ From 1d8e23e7bffb4e158b713585bc97d80342bfc0c0 Mon Sep 17 00:00:00 2001 From: Sebastian Jahr Date: Mon, 30 Oct 2023 12:32:45 +0100 Subject: [PATCH 2/2] Resolve conflict --- doc/tutorials/getting_started/getting_started.rst | 12 ------------ .../quickstart_in_rviz_tutorial.rst | 4 ---- 2 files changed, 16 deletions(-) diff --git a/doc/tutorials/getting_started/getting_started.rst b/doc/tutorials/getting_started/getting_started.rst index a68ddb1be3..c879a184cd 100644 --- a/doc/tutorials/getting_started/getting_started.rst +++ b/doc/tutorials/getting_started/getting_started.rst @@ -85,18 +85,6 @@ Optional: add the previous command to your ``.bashrc``: :: not required and often skipped by advanced users who use more than one Colcon workspace at a time, but we recommend it for simplicity. -<<<<<<< HEAD -Switch to Cyclone DDS -^^^^^^^^^^^^^^^^^^^^^ - -As of Sep 26, 2022, the default ROS 2 middleware (RMW) implementation has an issue. As a workaround, switch to Cyclone DDS. (Note: this makes all nodes started using this RMW incompatible with any other nodes not using Cyclone DDS.) :: - - sudo apt install ros-humble-rmw-cyclonedds-cpp - # You may want to add this to ~/.bashrc to source it automatically - export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - -======= ->>>>>>> 71ee840 (Remove recommendation for Cyclone due to FastDDS issues (#799)) Next Step ^^^^^^^^^ Nice job! Next we will :doc:`Visualize a robot with the interactive motion planning plugin for RViz ` diff --git a/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst b/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst index 9745930b40..01d27f6e0c 100644 --- a/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst +++ b/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst @@ -7,12 +7,8 @@ This tutorial will teach you how to create motion plans in MoveIt using RViz and Getting Started --------------- -<<<<<<< HEAD -If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started ` or our :doc:`Docker Guide `. As of Sep 26, 2022, ensure you have enabled Cyclone DDS as described there. -======= If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started ` or our :doc:`Docker Guide `. If you followed the Docker Guide, also follow the :ref:`create_colcon_workspace` guide onwards to set up the tutorials. ->>>>>>> 71ee840 (Remove recommendation for Cyclone due to FastDDS issues (#799)) Step 1: Launch the Demo and Configure the Plugin ------------------------------------------------