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docker: add Cyclone DDS middleware & tuning support #330

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docker: add Cyclone DDS middleware & tuning support #330

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8 changes: 8 additions & 0 deletions docker/Dockerfile.desktop-humble
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,7 @@ RUN apt-get update || true && \
RUN apt-get update || true && \
apt-get install --no-install-recommends -y \
ros-${ROS2_DIST}-ros-base \
ros-${ROS2_DIST}-rmw-cyclonedds-cpp \
python3-flake8-docstrings \
python3-pip \
python3-pytest-cov \
Expand All @@ -85,6 +86,13 @@ RUN apt-get update || true && \
lark && \
rm -rf /var/lib/apt/lists/*

# Default DDS middleware
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

# Copy Cyclone DDS tuning file
COPY cyclonedds.xml /root/cyclonedds.xml
ENV CYCLONEDDS_URI=file:///root/cyclonedds.xml

# Initialize rosdep
RUN rosdep init && rosdep update

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16 changes: 16 additions & 0 deletions docker/cyclonedds.xml
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@@ -0,0 +1,16 @@
<?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>
<MaxMessageSize>65500B</MaxMessageSize>
</General>
<Internal>
<SocketReceiveBufferSize min="10MB"/>
<Watermarks>
<WhcHigh>500kB</WhcHigh>
</Watermarks>
</Internal>
</Domain>
</CycloneDDS>