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Add Cyclone DDS as default supported DDS scheme #4

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Add Cyclone DDS as default supported DDS scheme #4

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433fa9a
feat: add cyclone dds support
cooperj Mar 3, 2026
73c5495
fix: correct path
cooperj Mar 3, 2026
66e284e
fix: update path to match context
cooperj Mar 3, 2026
c266682
fix: isolate cyclonedds steps
cooperj Mar 3, 2026
a08160b
ci: maybe apt clean will fix this?
cooperj Mar 3, 2026
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17 changes: 14 additions & 3 deletions base.dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,10 @@ ENV ROS_DISTRO=${ROS_DISTRO}

ENV DEBIAN_FRONTEND=noninteractive

RUN apt-get update && apt-get upgrade -y && apt-get install -y \
RUN apt-get clean && rm -rf /var/cache/apt/archives/* &&\
apt-get update && apt-get upgrade -y && apt-get install -y \
build-essential \
ca-certificates \
cmake \
git \
curl \
Expand All @@ -20,7 +22,7 @@ RUN apt-get update && apt-get upgrade -y && apt-get install -y \
ros-${ROS_DISTRO}-ros-base \
python3-colcon-common-extensions \
&& rm -rf /var/lib/apt/lists/*

RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update

ARG USERNAME=ros
Expand All @@ -37,12 +39,21 @@ RUN groupadd --gid $USER_GID $USERNAME \
&& chmod 0440 /etc/sudoers.d/$USERNAME \
&& rm -rf /var/lib/apt/lists/*

# Cyclone DDS
RUN apt-get update && apt-get upgrade -y && apt-get install -y \
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
&& rm -rf /var/lib/apt/lists/*
COPY cyclonedds.xml /etc/cyclonedds.xml

# Configure bash profile
RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
echo "alias t='tmux'" >> /etc/bash.bashrc && \
echo "alias cls='clear'" >> /etc/bash.bashrc
echo "alias cls='clear'" >> /etc/bash.bashrc && \
echo "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /etc/bash.bashrc && \
echo "CYCLONEDDS_URI=file:///etc/cyclonedds.xml" >> /etc/bash.bashrc

USER ros
CMD ["bash", "-l"]

14 changes: 12 additions & 2 deletions cuda.dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,13 @@ ENV ROS_DISTRO=${ROS_DISTRO}
ENV DEBIAN_FRONTEND=noninteractive

# Install language
RUN apt-get update ; \
RUN apt-get clean && rm -rf /var/cache/apt/archives/* && \
apt-get update ; \
apt-get upgrade -y && \
apt-get install -y --no-install-recommends \
locales \
curl \
ca-certificates \
gnupg2 \
lsb-release \
git \
Expand All @@ -42,6 +44,12 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
python3-rosdep \
&& rm -rf /var/lib/apt/lists/*

# Cyclone DDS
RUN apt-get update && apt-get upgrade -y && apt-get install -y \
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
&& rm -rf /var/lib/apt/lists/*
COPY cyclonedds.xml /etc/cyclonedds.xml

RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update

# Setup VirtualGL
Expand All @@ -68,7 +76,9 @@ RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root
echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \
echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
echo "alias t='tmux'" >> /etc/bash.bashrc && \
echo "alias cls='clear'" >> /etc/bash.bashrc
echo "alias cls='clear'" >> /etc/bash.bashrc && \
echo "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /etc/bash.bashrc && \
echo "CYCLONEDDS_URI=file:///etc/cyclonedds.xml" >> /etc/bash.bashrc

ENV TVNC_VGL=1
ENV VGL_ISACTIVE=1
Expand Down
10 changes: 10 additions & 0 deletions docker/cyclonedds.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
<CycloneDDS>
<Domain>
<General>
<AllowMulticast>true</AllowMulticast>
</General>
<Discovery>
<ParticipantIndex>auto</ParticipantIndex>
</Discovery>
</Domain>
</CycloneDDS>
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