config for DDS trials for remote access to robots (#40)

* WIP: config for DDS trials for remote access to robots

* using cyclone DDS with zenoh WIP

* delete not used router configs
* use cyclone DDS
* tidying up
* install Zenoh 
* better setup

.devcontainer/Dockerfile

@@ -1,5 +1,7 @@
 FROM lcas.lincoln.ac.uk/lcas/ros:humble
 
+RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | tee -a /etc/apt/sources.list
+
 RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
     && apt-get -y upgrade \
     && apt-get -y install --no-install-recommends ros-humble-desktop ros-humble-turtlebot3-gazebo ros-humble-turtlebot3-navigation2 \
@@ -50,7 +52,10 @@ RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
         libtinyxml2-dev \
         libssl-dev \
         python3-sphinx \
-        libyaml-cpp-dev     
+        libyaml-cpp-dev \
+        ros-humble-cyclonedds \
+        ros-humble-zenoh-bridge-dds \
+        llvm-dev libclang-dev
 
 RUN useradd -rm -d /home/lcas -s /bin/bash -g root -G sudo -u 1001 lcas
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
@@ -97,5 +102,13 @@ RUN git clone https://github.com/libuvc/libuvc.git &&\
 COPY *repos *.sh /tmp/.devcontainer/
 RUN bash /tmp/.devcontainer/install.sh
 
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y 
+RUN git clone https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds.git
+WORKDIR /opt/lcas/extensions/zenoh-plugin-ros2dds
+RUN bash -c "source '$HOME/.cargo/env'; cargo build --release -p zenoh-bridge-ros2dds"
+RUN install target/release/zenoh-bridge-ros2dds /usr/local/bin/
+
+RUN cat /tmp/.devcontainer/setup-router.sh >> /home/lcas/.bashrc
+
 RUN mkdir -p /home/lcas/ws/src && ln -s /workspaces /home/lcas/ws/src/workspaces
 WORKDIR /home/lcas/ws

.devcontainer/install.sh

@@ -5,6 +5,8 @@ set -e
 source /opt/ros/humble/setup.bash
 apt update
 rosdep --rosdistro=humble update 
+
+# fix tab completion
 pip install -U argcomplete
 
 rm -rf /opt/ros/lcas
@@ -16,8 +18,5 @@ rosdep install --from-paths . -r -i -y
 cd /opt/ros/lcas
 colcon build
 
-
-#cd /home/lcas/ws
-#colcon build 
 echo "source /opt/ros/lcas/install/setup.bash" >> ~/.bashrc
 

.devcontainer/lcas.repos

@@ -7,31 +7,4 @@ repositories:
     type: git
     url: https://github.com/LCAS/limo_ros2.git
     version: humble
-  foonathan_memory_vendor:
-    type: git
-    url: https://github.com/eProsima/foonathan_memory_vendor.git
-    version: v1.3.1
-  fastcdr:
-    type: git
-    url: https://github.com/eProsima/Fast-CDR.git
-    version: v1.1.0
-  fastdds:
-    type: git
-    url: https://github.com/eProsima/Fast-DDS.git
-    version: v2.11.2
-  dev-utils:
-    type: git
-    url: https://github.com/eProsima/dev-utils.git
-    version: v0.4.0
-  ddspipe:
-    type: git
-    url: https://github.com/eProsima/DDS-Pipe.git
-    version: v0.2.0
-  ddsrouter:
-    type: git
-    url: https://github.com/eProsima/DDS-Router.git
-    version: v2.0.0
-  googletest-distribution: 
-    type: git
-    url: https://github.com/google/googletest.git
-    version: release-1.11.0
+

.devcontainer/run.sh

@@ -13,18 +13,13 @@ source /opt/ros/lcas/install/setup.bash
 sudo apt update
 rosdep --rosdistro=humble update 
 
-
-# sudo rm -rf /opt/ros/lcas
-# sudo mkdir -p /opt/ros/lcas/src
-# sudo chown -R lcas /opt/ros/lcas
-# cd /opt/ros/lcas/src
-# vcs import < $WORKSPACE/.devcontainer/lcas.repos
-# rosdep install --from-paths . -i -y
-# cd /opt/ros/lcas
-# colcon build
-
-
 cd /home/lcas/ws
 colcon build --symlink-install
-echo "source /home/lcas/ws/install/setup.bash" >> ~/.bashrc
 
+if ! grep -q "source /opt/ros/lcas/install/setup.bash" ~/.bashrc; then
+    echo "source /opt/ros/lcas/install/setup.bash" >> ~/.bashrc
+fi
+
+if ! grep -q "source /home/lcas/ws/install/setup.bash" ~/.bashrc; then
+    echo "source /home/lcas/ws/install/setup.bash" >> ~/.bashrc
+fi

.devcontainer/setup-router.sh

@@ -0,0 +1,40 @@
+unset RMW_IMPLEMENTATION
+unset ROS_LOCALHOST_ONLY
+#export FASTRTPS_DEFAULT_PROFILES_FILE=/workspaces/teaching/uol_tidybot/param/super_client_configuration_file.xml
+#export ROS_DISCOVERY_SERVER=localhost:11888
+
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+read -r -d '' CYCLONEDDS_URI << EOM
+<?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="0">
+        <General>
+            <AllowMulticast>false</AllowMulticast>
+            <MaxMessageSize>65500B</MaxMessageSize>
+        <FragmentSize>4000B</FragmentSize>
+        <Transport>udp</Transport>
+        </General>
+    <Discovery>
+        <Peers>
+            <Peer address="localhost"/>
+            <Peer address="`hostname`"/>
+            <!--<Peer address="[IPV6-address]"/>-->
+        </Peers>
+        <ParticipantIndex>auto</ParticipantIndex>
+    </Discovery>
+        <Internal>
+            <Watermarks>
+                <WhcHigh>500kB</WhcHigh>
+            </Watermarks>
+        </Internal>
+        <Tracing>
+            <Verbosity>info</Verbosity>
+            <OutputFile>stdout</OutputFile>
+        </Tracing>
+    </Domain>
+</CycloneDDS>
+EOM
+
+export CYCLONEDDS_URI
+