Add default CycloneDDS setup

[destogl]

Add this to into the install script:

sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp

Add this to the .rtw_rc file:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=~/.ros/cyclonedds.xml

Add this cyclonedds.xml content:

<?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="any">
    <General>
      <Interfaces>
        <NetworkInterface name="lo"/>
      </Interfaces>
      <AllowMulticast>false</AllowMulticast>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <Peers>
        <Peer Address="localhost"/>
      </Peers>
      <MaxAutoParticipantIndex>120</MaxAutoParticipantIndex>
    </Discovery>
  </Domain>
</CycloneDDS>

[destogl]

P2P Communication

In your .bashrc or .ros_team_ws_rc file (just under setup.bash of ros).

# User specific setup / variables
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=~/workspace/<your_project>/cyclonedds.xml

Within cyclonedds.xml file on the robot

<?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="any">
    <General>
      <Interfaces>
        <NetworkInterface name="br0" multicast="false"/>  <!-- Set correct interface -->
      </Interfaces>
      <AllowMulticast>false</AllowMulticast>
      <EnableMulticastLoopback>false</EnableMulticastLoopback>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <Peers>
        <Peer Address="localhost"/>

        <!-- List of all hosts on eplans to communicate with -->
        <Peer Address="172.24.2.1"/>
        <Peer Address="172.24.2.100"/>
        <Peer Address="172.24.2.101"/>
        <Peer Address="172.24.2.102"/>
      </Peers>
      <MaxAutoParticipantIndex>120</MaxAutoParticipantIndex>
    </Discovery>
  </Domain>
</CycloneDDS>

The cyclonedds.xml configuration on a PC:

<?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="any">
    <General>
      <Interfaces>
	      <!--<NetworkInterface name="enxc03eba3be6b5" multicast="false"/>-->  <!-- Set correct interface -->
	 <NetworkInterface name="wlo1" multicast="false"/>
      </Interfaces>
      <AllowMulticast>false</AllowMulticast>
      <EnableMulticastLoopback>false</EnableMulticastLoopback>
    </General>
    <Discovery>
      <ParticipantIndex>auto</ParticipantIndex>
      <Peers>
        <Peer Address="localhost"/>

        <Peer Address="172.24.2.1"/>  <!-- IP of your computer on the robot -->
      </Peers>
      <MaxAutoParticipantIndex>120</MaxAutoParticipantIndex>
    </Discovery>
  </Domain>
</CycloneDDS>