Make container better for ros2 dds settings #1
Description
Need
In order to
As a
I want to
Acceptance Criteria
Scenario: should
GIVEN
WHEN
THEN
Tasks
Notes
References:
Making a general announcement here - we've added a new Asana card to our onboarding to make sure everyone is using a DDS config that does not try to talk to other machines on your network. There was one machine on the Boulder network not using it which caused some problems. I've copied the contents of that card here for everyone to look over:
Configure Cyclone DDS for localhost communication only:
Read ROS 2 wiki articles on DDS (Data Distribution Service) and QOS (Quality Of Service)
Watch DDS and QOS Learnings video (slides here)
Set up our default localhost Cyclone DDS config - this will make it so your ROS nodes only try to communicate to other processes on your machine, rather than across all your networks, which can take down wifi
Save this file to ~/.ros/cyclonedds.xml
Add these entries to your /.bashrc/.ros/cyclonedds.xml
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=
Important: If you do Docker based development, your containers will not use these settings by default! You will need to either
Replicate this process on each container
Mount your ~/.bashrc and ~/.ros/cyclonedds.xml in each container
Something else