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Disable shared memory #59

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Merged
pablogs9 merged 2 commits into from
May 11, 2021
Merged

Disable shared memory #59

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9b6b332
Disable shared memory
Acuadros95 May 11, 2021
544342e
Add xml to dockerfile
Acuadros95 May 11, 2021
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4 changes: 4 additions & 0 deletions micro-ROS-Agent/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,10 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh \
&& ros2 run micro_ros_setup build_agent.sh \
&& rm -rf log/ build/ src/

# Disable shared memory
COPY disable_fastdds_shm.xml /tmp/
ENV FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/disable_fastdds_shm.xml

# setup entrypoint
COPY ./micro-ros_entrypoint.sh /
ENTRYPOINT ["/bin/sh", "/micro-ros_entrypoint.sh"]
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20 changes: 20 additions & 0 deletions micro-ROS-Agent/disable_fastdds_shm.xml
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@@ -0,0 +1,20 @@
<?xml version="1.0" encoding="UTF-8" ?>
<!--The only purpose of this file is to disable Fast-DDS SHM transport used by default to use UDPv4-->
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
<transport_descriptors>
<transport_descriptor>
<transport_id>CustomUdpTransport</transport_id>
<type>UDPv4</type>
</transport_descriptor>
</transport_descriptors>

<participant profile_name="participant_profile" is_default_profile="true">
<rtps>
<userTransports>
<transport_id>CustomUdpTransport</transport_id>
</userTransports>

<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
</profiles>