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support ROS_LOCALHOST_ONLY variable #69

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merged 1 commit into from
Sep 29, 2021
Merged

support ROS_LOCALHOST_ONLY variable #69

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3 changes: 1 addition & 2 deletions micro-ROS-Agent/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,7 @@ RUN . /opt/ros/$ROS_DISTRO/setup.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
COPY disable_fastdds_shm.xml disable_fastdds_shm_localhost_only.xml /tmp/

# setup entrypoint
COPY ./micro-ros_entrypoint.sh /
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23 changes: 23 additions & 0 deletions micro-ROS-Agent/disable_fastdds_shm_localhost_only.xml
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@@ -0,0 +1,23 @@
<?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>
<interfaceWhiteList>
<address>127.0.0.1</address>
</interfaceWhiteList>
</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>
7 changes: 7 additions & 0 deletions micro-ROS-Agent/micro-ros_entrypoint.sh
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Original file line number Diff line number Diff line change
@@ -1,3 +1,10 @@
. "/opt/ros/$ROS_DISTRO/setup.sh"
. "/uros_ws/install/local_setup.sh"

if [ "$ROS_LOCALHOST_ONLY" = "1" ] ; then
export FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/disable_fastdds_shm_localhost_only.xml
else
export FASTRTPS_DEFAULT_PROFILES_FILE=/tmp/disable_fastdds_shm.xml
fi

exec ros2 run micro_ros_agent micro_ros_agent "$@"