Support Cyclone DDS (#107)

I resolved <#104>. - I add `cyclonedds` and `rmw_cyclonedds_cpp` to the dependency of `kachaka_grpc_ros2_bridge`. - I add `RMW_IMPLEMENTATION` to docker-compose.yaml.
pf-robotics · Jul 29, 2024 · ac13d5e · ac13d5e
1 parent 28540d3
commit ac13d5e
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diff --git a/ros2/kachaka_grpc_ros2_bridge/package.xml b/ros2/kachaka_grpc_ros2_bridge/package.xml
@@ -48,6 +48,8 @@
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>kachaka_interfaces</exec_depend>
   <exec_depend>kachaka_description</exec_depend>
+  <exec_depend>cyclonedds</exec_depend>
+  <exec_depend>rmw_cyclonedds_cpp</exec_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>launch</test_depend>

diff --git a/tools/ros2_bridge/docker-compose.yaml b/tools/ros2_bridge/docker-compose.yaml
@@ -11,6 +11,7 @@ services:
       - ROS_DOMAIN_ID
       - ROS_LOCALHOST_ONLY
       - ROS_LOG_DIR=/tmp
+      - RMW_IMPLEMENTATION
       - USER_ID
       - GROUP_ID
     user: "${USER_ID}:${GROUP_ID}"
@@ -25,6 +26,7 @@ services:
       - ROS_DOMAIN_ID
       - ROS_LOCALHOST_ONLY
       - ROS_LOG_DIR=/tmp
+      - RMW_IMPLEMENTATION
       - USER_ID
       - GROUP_ID
     user: "${USER_ID}:${GROUP_ID}"
@@ -39,6 +41,7 @@ services:
       - ROS_DOMAIN_ID
       - ROS_LOCALHOST_ONLY
       - ROS_LOG_DIR=/tmp
+      - RMW_IMPLEMENTATION
       - USER_ID
       - GROUP_ID
     user: "${USER_ID}:${GROUP_ID}"
@@ -53,6 +56,7 @@ services:
       - ROS_DOMAIN_ID
       - ROS_LOCALHOST_ONLY
       - ROS_LOG_DIR=/tmp
+      - RMW_IMPLEMENTATION
       - USER_ID
       - GROUP_ID
     user: "${USER_ID}:${GROUP_ID}"
@@ -67,6 +71,7 @@ services:
       - ROS_DOMAIN_ID
       - ROS_LOCALHOST_ONLY
       - ROS_LOG_DIR=/tmp
+      - RMW_IMPLEMENTATION
       - USER_ID
       - GROUP_ID
     user: "${USER_ID}:${GROUP_ID}"