From 0168d186335d06843695e829a80b6e78496e1a47 Mon Sep 17 00:00:00 2001
From: Hector Cruz <37127013+hect95@users.noreply.github.com>
Date: Mon, 20 May 2024 17:14:00 +0100
Subject: [PATCH] Add Cyclone DDS ROS RMW (#3)

Changes:

- Add cyclone DDS as ROS RMW + configurate it to support high msg
throughput
- Avoid `dev.sh` override `latest` docker tag for convenience
- Enable colorised ROS log
---
 Dockerfile                     | 13 +++++++++++++
 av_ouster_launch/CHANGELOG.rst |  6 ++++++
 cyclone_dds.xml                |  9 +++++++++
 dev.sh                         |  4 ++--
 4 files changed, 30 insertions(+), 2 deletions(-)
 create mode 100644 cyclone_dds.xml

diff --git a/Dockerfile b/Dockerfile
index cc02234..2080182 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -5,12 +5,25 @@ RUN apt-get update \
     && DEBIAN_FRONTEND=noninteractive \
         apt-get -y --quiet --no-install-recommends install \
         ros-"$ROS_DISTRO"-ros2-ouster \
+        # Install Cyclone DDS ROS RMW
+        ros-"$ROS_DISTRO"-rmw-cyclonedds-cpp \
     && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS workspace folder
 ENV ROS_WS /opt/ros_ws
 WORKDIR $ROS_WS
 
+# Set cyclone DDS ROS RMW
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+COPY ./cyclone_dds.xml $ROS_WS/
+
+# Configure Cyclone cfg file
+ENV CYCLONEDDS_URI=file://${ROS_WS}/cyclone_dds.xml
+
+# Enable ROS log colorised output
+ENV RCUTILS_COLORIZED_OUTPUT=1
+
 # -----------------------------------------------------------------------
 
 FROM base AS prebuilt
diff --git a/av_ouster_launch/CHANGELOG.rst b/av_ouster_launch/CHANGELOG.rst
index d0669d3..51df872 100644
--- a/av_ouster_launch/CHANGELOG.rst
+++ b/av_ouster_launch/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package av_ouster_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Add cyclone DDS as ROS RMW  + configurate it to support high msg throughput
+* Avoid `dev.sh` override `latest` docker tag for convenience
+* Enable colorised ROS log
+
 1.0.1 (2024-05-07)
 ------------------
 * Using ROS timestamp
diff --git a/cyclone_dds.xml b/cyclone_dds.xml
new file mode 100644
index 0000000..99e60b7
--- /dev/null
+++ b/cyclone_dds.xml
@@ -0,0 +1,9 @@
+<?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">
+        <Internal>
+            <SocketReceiveBufferSize min="10MB"/>
+        </Internal>
+    </Domain>
+</CycloneDDS>
diff --git a/dev.sh b/dev.sh
index 160763f..2861204 100755
--- a/dev.sh
+++ b/dev.sh
@@ -5,11 +5,11 @@
 
 # Build docker image up to dev stage
 DOCKER_BUILDKIT=1 docker build \
-    -t av_ouster:latest \
+    -t av_ouster:latest-dev \
     -f Dockerfile --target dev .
 
 # Run docker image with local code volumes for development
 docker run -it --rm --net host \
     -v /dev/shm:/dev/shm \
     -v ./av_ouster_launch:/opt/ros_ws/src/av_ouster_launch \
-    av_ouster:latest
+    av_ouster:latest-dev