Secured ros2 office demo

[marcoag]

Adding the files and instructions needed for a secured run of the office demo.

[Yadunund]

Still trying out the demo but some early comments

[Yadunund]

Managed to successfully run the secured demo and it works great! Thanks for making the necessary changes. Could you update the changelogs before merging?

[marcoag]

@Yadunund could you test the tmux script?

For your reference: 85f4bfb

[Yadunund]

The tmux script works well with the proposed change. We can merge this in once the Rviz segfault is fixed

[Yadunund]

Also, what do you think of adding rmw_cyclonedds and cyclonedds to the repos list under thirdparty namespace?

rmf_demos/rmf_demos.repos

Line 22 in 8e7b734

thirdparty/menge_core:

This we can we ensure the 0.7.4 tag of rmf_cyclonedds gets cloned during setup.

[marcoag]

Rviz segfault has been fixed, it seems that cyclonedds was segfaulting because a subscription permission was missing. cyclonedds should throw a message instead, I believe it does usually. Will further investigate and report this.

Also, what do you think of adding rmw_cyclonedds and cyclonedds to the repos list under thirdparty namespace?

rmf_demos/rmf_demos.repos

Line 22 in 8e7b734

thirdparty/menge_core:

This we can we ensure the 0.7.4 tag of rmf_cyclonedds gets cloned during setup.

cyclonedds is only relevant to the SROS 2 demo I would say we leave it out as it's not a mandatory repo?

Regarding the version of cyclonedds, we shouldn't be using 0.7.4 but the latest (0.7.5), I reported the building issue faced:

ros2/rmw_cyclonedds#261

[Yadunund]

Rviz is no longer crashing 👍

But after a couple minutes of running the demo I observe this message on all the tmux windows

fsm: handshake (lguid=e0e9560c:e7a9052e:270b167b:1c1 rguid=d52568ea:4d08201b:d6a90132:1c1) failed: (1) Timed out

The simulation becomes unresponsive afterwards.

cyclonedds is only relevant to the SROS 2 demo I would say we leave it out as it's not a mandatory repo?

That is a fair point, we can leave it out for now.

[marcoag]

Just created a separate issue for the handshake as it's not directly related to the demo itself: #159

I will follow up on fixes with cyclonedds and update there.