Add create3 rmw profile for discovery server

etc/turtlebot4/fastdds_discovery_create3.xml

@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+    <profiles>
+        <!-- UDPv4 Transport profile -->
+        <transport_descriptors>
+            <transport_descriptor>
+                <transport_id>udp_transport</transport_id>
+                <type>UDPv4</type>
+                <!-- Reduce socket buffer size -->
+                <sendBufferSize>32768</sendBufferSize>
+                <receiveBufferSize>32768</receiveBufferSize>
+                <!-- Reduce max message size, otherwise the participant creation fails -->
+                <maxMessageSize>8192</maxMessageSize>
+            </transport_descriptor>
+        </transport_descriptors>
+
+        <!-- Domain Participant Profile -->
+        <participant profile_name="domainparticipant_profile_name" is_default_profile="true">
+            <rtps>
+                <!-- Use user defined UDPv4 transport -->
+                <userTransports>
+                    <transport_id>udp_transport</transport_id>
+                </userTransports>
+                <!-- Disable builtin transports -->
+                <useBuiltinTransports>false</useBuiltinTransports>
+            </rtps>
+        </participant>
+
+        <!-- Default publisher profile -->
+        <data_writer profile_name="default_publisher_profile" is_default_profile="true">
+            <topic>
+                <!-- Tune initial allocations -->
+                <resourceLimitsQos>
+                    <max_samples>0</max_samples>
+                    <allocated_samples>0</allocated_samples>
+                </resourceLimitsQos>
+            </topic>
+        </data_writer>
+
+        <!-- Default subscriber profile -->
+        <data_reader profile_name="default_subscriber_profile" is_default_profile="true">
+            <topic>
+                <!-- Tune initial allocations -->
+                <resourceLimitsQos>
+                    <max_samples>0</max_samples>
+                    <allocated_samples>0</allocated_samples>
+                </resourceLimitsQos>
+            </topic>
+        </data_reader>
+    </profiles>
+</dds>

turtlebot4_setup/turtlebot4_setup

@@ -159,8 +159,12 @@ class Turtlebot4Setup():
 
             discovery_server = f'&fast_discovery_server_value={self.conf.get_create3_server_str()}'
 
+            create3_rmw_profile = 'config='
             if self.conf.get(DiscoveryOptions.ENABLED):
                 discovery_server_enabled = '&fast_discovery_server_enabled'
+                create3_rmw_profile_file = os.path.join(self.conf.setup_dir, 'fastdds_discovery_create3.xml')
+                with open(create3_rmw_profile_file) as f:
+                    create3_rmw_profile += f.read()
             else:
                 discovery_server_enabled = ''
 
@@ -178,6 +182,15 @@ class Turtlebot4Setup():
             if (result.returncode != 0):
                 return (result.returncode, "Error writing ROS settings to Create3\n\n" + result.stderr.decode("utf-8"))
 
+            # Set create3 rmw profile
+            command = shlex.split(f'curl -d {shlex.quote(create3_rmw_profile)} -X POST http://192.168.186.2/rmw-profile-override-save')
+
+            result = subprocess.run(command, capture_output=True)
+
+            # If the curl command fails then return and indicate the error.
+            if (result.returncode != 0):
+                return (result.returncode, "Error writing RMW XML Profile to Create3\n\n" + result.stderr.decode("utf-8"))
+
             # Set time syncing to Raspberry PI
             config = f'config=server 192.168.186.3 prefer iburst minpoll 4 maxpoll 6  # Use RPi4 server'
             command = shlex.split(f'curl -d "{config}" -X POST http://192.168.186.2/beta-ntp-conf-save')