change default dds to cyclone

docker/.cyclonedds.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0" ?>
+<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="127.0.0.1"/>
+      </Peers>
+      <MaxAutoParticipantIndex>120</MaxAutoParticipantIndex>
+    </Discovery>
+  </Domain>
+</CycloneDDS>

docker/Dockerfile

@@ -112,7 +112,13 @@ ENV QT_X11_NO_MITSHM=1
 from ros2${RUNTIME} as common
 SHELL ["/bin/bash", "-c"]
 
-RUN wget -O /root/.shm_off.xml https://raw.githubusercontent.com/eProsima/Fast-DDS/107ea8d64942102696840cd7d3e4cf93fa7a143e/examples/cpp/dds/AdvancedConfigurationExample/shm_off.xml
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY docker/.cyclonedds.xml /root
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV CYCLONEDDS_URI=/root/.cyclonedds.xml
 
 RUN mkdir -p /root/linorobot2_ws/src/linorobot2
 RUN mkdir -p /root/preinstall/base \

docker/docker-compose.yaml

@@ -63,13 +63,31 @@ services:
       ros2 launch linorobot2_navigation slam.launch.py
       rviz:=false
 
+  slam-sim:
+    container_name: slam-sim
+    extends: dev
+    command: >
+      ros2 launch linorobot2_navigation slam.launch.py
+      rviz:=true
+      sim:=true
+
   navigate:
     container_name: navigate
     extends: dev
     command: >
       ros2 launch linorobot2_navigation navigation.launch.py
       map:=/root/linorobot2_ws/src/linorobot2/linorobot2_navigation/maps/playground.yaml
       rviz:=false
+      sim:=false
+
+  navigate-sim:
+    container_name: navigate-sim
+    extends: dev
+    command: >
+      ros2 launch linorobot2_navigation navigation.launch.py
+      map:=/root/linorobot2_ws/src/linorobot2/linorobot2_navigation/maps/playground.yaml
+      rviz:=true
+      sim:=true
 
   save-map:
     container_name: save-map

docker/entrypoint.sh

@@ -2,6 +2,5 @@
 
 source /opt/ros/rosdistro/setup.bash
 source /root/linorobot2_ws/install/setup.bash
-export FASTRTPS_DEFAULT_PROFILES_FILE=/root/.shm_off.xml
 
 $@