From 4281279612733cdb060b63a31d08c58e1d369566 Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Wed, 25 Oct 2023 14:10:57 +0000 Subject: [PATCH 1/2] Remove recommendation for Cyclone due to FastDDS issues --- doc/tutorials/getting_started/getting_started.rst | 13 ------------- .../quickstart_in_rviz_tutorial.rst | 1 - 2 files changed, 14 deletions(-) diff --git a/doc/tutorials/getting_started/getting_started.rst b/doc/tutorials/getting_started/getting_started.rst index 8492b0af6c..a9166a58ed 100644 --- a/doc/tutorials/getting_started/getting_started.rst +++ b/doc/tutorials/getting_started/getting_started.rst @@ -108,19 +108,6 @@ Optional: add the previous command to your ``.bashrc``: :: not required and often skipped by advanced users who use more than one Colcon workspace at a time, but we recommend it for simplicity. -.. _cyclone_dds: - -Switch to Cyclone DDS -^^^^^^^^^^^^^^^^^^^^^ - -As of Sep 26, 2022, the default ROS 2 middleware (RMW) implementation has an issue. -As a workaround, switch to Cyclone DDS. -(Note: this makes all nodes started using this RMW incompatible with any other nodes not using Cyclone DDS.) :: - - sudo apt install ros-rolling-rmw-cyclonedds-cpp - # You may want to add this to ~/.bashrc to source it automatically - export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - Next Step ^^^^^^^^^ Nice job! diff --git a/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst b/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst index e9e8c82f5b..dcf3155133 100644 --- a/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst +++ b/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst @@ -9,7 +9,6 @@ Getting Started --------------- If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started ` or our :doc:`Docker Guide `. If you followed the Docker Guide, also follow the :ref:`create_colcon_workspace` guide onwards to set up the tutorials. -As of Sep 26, 2022, ensure you have :ref:`enabled Cyclone DDS `. Step 1: Launch the Demo and Configure the Plugin ------------------------------------------------ From d62c6803898ee7e8224a46c731ef9c8657254ee7 Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Fri, 27 Oct 2023 14:37:02 +0000 Subject: [PATCH 2/2] Remove cyclone config from Dockerfile --- .docker/Dockerfile | 2 -- 1 file changed, 2 deletions(-) diff --git a/.docker/Dockerfile b/.docker/Dockerfile index 662f6fe669..fbf1234f6f 100644 --- a/.docker/Dockerfile +++ b/.docker/Dockerfile @@ -53,7 +53,6 @@ RUN --mount=type=cache,target=/root/.ccache/ \ . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\ . "install/setup.sh" &&\ sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \ - sudo apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \ colcon build \ --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ @@ -63,6 +62,5 @@ RUN --mount=type=cache,target=/root/.ccache/ \ rm -rf /var/lib/apt/lists/* && \ # Update /ros_entrypoint.sh to source our new workspace sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/install/setup.bash#g" /ros_entrypoint.sh && \ - echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /root/.bashrc && \ echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \ echo "source /root/ws_moveit/install/setup.bash" >> /root/.bashrc