Add Cyclone DDS ROS RMW (#7)

* Add cyclone DDS as ROS RMW + configurate it to support high msg throughput * Avoid `dev.sh` override `latest` docker tag for convenience * Rename docker images' names from `aw_radar_bridge_humble` to `av_radar_bridge` * Rename `aw_radar_bridge` pkg to `av_radar_bridge` * Enable colorised ROS log * Synchronise host time with docker container
ipab-rad · May 21, 2024 · d11e37b · d11e37b
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commit d11e37b
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diff --git a/Dockerfile b/Dockerfile
@@ -7,19 +7,32 @@ RUN apt-get update \
         # Install ROS msg dependencies
         ros-"$ROS_DISTRO"-radar-msgs \
         ros-"$ROS_DISTRO"-sensor-msgs \
+        # Install Cyclone DDS ROS RMW
+        ros-"$ROS_DISTRO"-rmw-cyclonedds-cpp \
     && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS workspace folders
 ENV ROS_WS=/opt/ros_ws
 WORKDIR $ROS_WS
 
+# Set cyclone DDS ROS RMW
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+COPY ./cyclone_dds.xml $ROS_WS/
+
+# Configure Cyclone cfg file
+ENV CYCLONEDDS_URI=file://${ROS_WS}/cyclone_dds.xml
+
+# Enable ROS log colorised output
+ENV RCUTILS_COLORIZED_OUTPUT=1
+
 # -----------------------------------------------------------------------
 
 FROM base AS prebuilt
 
 # Copy ROS2 msg files and bridge code over
 COPY ecal_to_ros/ros2/ src/ecal_to_ros/
-COPY aw_radar_bridge  src/aw_radar_bridge
+COPY av_radar_bridge  src/av_radar_bridge
 
 # Source ROS2 setup for dependencies and build our code
 RUN . /opt/ros/"$ROS_DISTRO"/setup.sh && \
@@ -63,4 +76,4 @@ RUN sed --in-place --expression \
       /ros_entrypoint.sh
 
 # Launch ros package
-CMD ["ros2", "launch", "aw_radar_bridge", "aw_radar_bridge.launch.xml"]
+CMD ["ros2", "launch", "av_radar_bridge", "av_radar_bridge.launch.xml"]
diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-# AW Radar Bridge
+# Av Radar Bridge
 
 Repo for bridging between internal Continental Radar msgs and standard ROS msgs.
 
@@ -36,5 +36,5 @@ Prepare a development setting that reflects local code modifications and simplif
 ./dev.sh
 ```
 
-- **Live Code Synchronization**: Mounts local `aw_radar_bridge` and `ecal_to_ros` directories with the container.
+- **Live Code Synchronization**: Mounts local `av_radar_bridge` and `ecal_to_ros` directories with the container.
 - **Convenience Alias**: The development container features a `colcon_build` alias, which simplifies the ROS2 build process. Executing `colcon_build` runs `colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release` and then sources the `setup.bash` to ensure the environment is updated with the latest build artifacts. This alias enhances productivity by combining build commands and environment setup into a single, easy command.
diff --git a/aw_radar_bridge/CHANGELOG.rst → av_radar_bridge/CHANGELOG.rst b/aw_radar_bridge/CHANGELOG.rst → av_radar_bridge/CHANGELOG.rst
@@ -1,7 +1,14 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package aw_radar_bridge
+Changelog for package av_radar_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Add cyclone DDS as ROS RMW  + configurate it to support high msg throughput
+* Avoid `dev.sh` override `latest` docker tag for convenience
+* Enable colorised ROS log
+* Synchronise host time with docker container
+
 1.0.0 (2024-05-01)
 ------------------
 * Initial Radar configuration PR (`#1 <https://github.com/ipab-rad/av_radar_bridge/issues/1>`_)

diff --git a/aw_radar_bridge/CMakeLists.txt → av_radar_bridge/CMakeLists.txt b/aw_radar_bridge/CMakeLists.txt → av_radar_bridge/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(aw_radar_bridge)
+project(av_radar_bridge)
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)

diff --git a/..._bridge/launch/aw_radar_bridge.launch.xml → ..._bridge/launch/av_radar_bridge.launch.xml b/..._bridge/launch/aw_radar_bridge.launch.xml → ..._bridge/launch/av_radar_bridge.launch.xml
@@ -4,49 +4,49 @@
 
     <!-- Radars component container A -->
     <node_container pkg="rclcpp_components" exec="component_container" name="radars_container_a" namespace="">
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_centre_far" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_centre_far" namespace="">
         <param name="frame_id" value="radar_bumper_front_centre_mount"/>
         <param name="input_topic" value="/sensor/radar/bumper_front_centre/far/image"/>
         <param name="output_topic" value="/output/radar/bumper_front_centre/far/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_centre_near" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_centre_near" namespace="">
         <param name="frame_id" value="radar_bumper_front_centre_mount"/>
         <param name="input_topic" value="/sensor/radar/bumper_front_centre/near/image"/>
         <param name="output_topic" value="/output/radar/bumper_front_centre/near/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_left_far" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_left_far" namespace="">
         <param name="frame_id" value="radar_bumper_front_left_mount"/>
         <param name="input_topic" value="/sensor/radar/bumper_front_left/far/image"/>
         <param name="output_topic" value="/output/radar/bumper_front_left/far/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_left_near" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_left_near" namespace="">
         <param name="frame_id" value="radar_bumper_front_left_mount"/>
         <param name="input_topic" value="/sensor/radar/bumper_front_left/near/image"/>
         <param name="output_topic" value="/output/radar/bumper_front_left/near/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_right_far" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_right_far" namespace="">
         <param name="frame_id" value="radar_bumper_front_right_mount"/>
         <param name="input_topic" value="/sensor/radar/bumper_front_right/far/image"/>
         <param name="output_topic" value="/output/radar/bumper_front_right/far/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_right_near" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_front_right_near" namespace="">
         <param name="frame_id" value="radar_bumper_front_right_mount"/>
         <param name="input_topic" value="/sensor/radar/bumper_front_right/near/image"/>
         <param name="output_topic" value="/output/radar/bumper_front_right/near/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_rear_centre_far" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_rear_centre_far" namespace="">
         <param name="frame_id" value="radar_bumper_rear_centre_mount"/>
         <param name="input_topic" value="/sensor/radar/bumper_rear_centre/far/image"/>
         <param name="output_topic" value="/output/radar/bumper_rear_centre/far/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_rear_centre_near" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_bumper_rear_centre_near" namespace="">
         <param name="frame_id" value="radar_bumper_rear_centre_mount"/>
         <param name="input_topic" value="/sensor/radar/bumper_rear_centre/near/image"/>
         <param name="output_topic" value="/output/radar/bumper_rear_centre/near/image"/>
@@ -55,49 +55,49 @@
 
     <!-- Radars component container B -->
     <node_container pkg="rclcpp_components" exec="component_container" name="radars_container_b" namespace="">
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_left_front_far" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_left_front_far" namespace="">
         <param name="frame_id" value="radar_roof_left_front_mount"/>
         <param name="input_topic" value="/sensor/radar/roof_left_front/far/image"/>
         <param name="output_topic" value="/output/radar/roof_left_front/far/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_left_front_near" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_left_front_near" namespace="">
         <param name="frame_id" value="radar_roof_left_front_mount"/>
         <param name="input_topic" value="/sensor/radar/roof_left_front/near/image"/>
         <param name="output_topic" value="/output/radar/roof_left_front/near/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_left_rear_far" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_left_rear_far" namespace="">
         <param name="frame_id" value="radar_roof_left_rear_mount"/>
         <param name="input_topic" value="/sensor/radar/roof_left_rear/far/image"/>
         <param name="output_topic" value="/output/radar/roof_left_rear/far/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_left_rear_near" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_left_rear_near" namespace="">
         <param name="frame_id" value="radar_roof_left_rear_mount"/>
         <param name="input_topic" value="/sensor/radar/roof_left_rear/near/image"/>
         <param name="output_topic" value="/output/radar/roof_left_rear/near/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_right_front_far" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_right_front_far" namespace="">
         <param name="frame_id" value="radar_roof_right_front_mount"/>
         <param name="input_topic" value="/sensor/radar/roof_right_front/far/image"/>
         <param name="output_topic" value="/output/radar/roof_right_front/far/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_right_front_near" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_right_front_near" namespace="">
         <param name="frame_id" value="radar_roof_right_front_mount"/>
         <param name="input_topic" value="/sensor/radar/roof_right_front/near/image"/>
         <param name="output_topic" value="/output/radar/roof_right_front/near/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_right_rear_far" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_right_rear_far" namespace="">
         <param name="frame_id" value="radar_roof_right_rear_mount"/>
         <param name="input_topic" value="/sensor/radar/roof_right_rear/far/image"/>
         <param name="output_topic" value="/output/radar/roof_right_rear/far/image"/>
       </composable_node>
 
-      <composable_node pkg="aw_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_right_rear_near" namespace="">
+      <composable_node pkg="av_radar_bridge" plugin="sensor::RadarBridge" name="radar_roof_right_rear_near" namespace="">
         <param name="frame_id" value="radar_roof_right_rear_mount"/>
         <param name="input_topic" value="/sensor/radar/roof_right_rear/near/image"/>
         <param name="output_topic" value="/output/radar/roof_right_rear/near/image"/>

diff --git a/aw_radar_bridge/package.xml → av_radar_bridge/package.xml b/aw_radar_bridge/package.xml → av_radar_bridge/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>aw_radar_bridge</name>
+  <name>av_radar_bridge</name>
   <version>1.0.0</version>
   <description>Bridge from internal radar msgs to Autoware radar msgs</description>
   <maintainer email="[email protected]">Alejandro Bordallo</maintainer>

diff --git a/aw_radar_bridge/src/radar_bridge_node.cpp → av_radar_bridge/src/radar_bridge_node.cpp b/aw_radar_bridge/src/radar_bridge_node.cpp → av_radar_bridge/src/radar_bridge_node.cpp
diff --git a/cyclone_dds.xml b/cyclone_dds.xml
@@ -0,0 +1,9 @@
+<?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">
+        <Internal>
+            <SocketReceiveBufferSize min="10MB"/>
+        </Internal>
+    </Domain>
+</CycloneDDS>
diff --git a/dev.sh b/dev.sh
@@ -5,12 +5,13 @@
 
 # Build docker image up to dev stage
 DOCKER_BUILDKIT=1 docker build \
-    -t aw_radar_bridge_humble \
+    -t av_radar_bridge:latest-dev \
     -f Dockerfile --target dev .
 
 # Run docker image with local code volumes for development
 docker run -it --rm --net host --privileged \
     -v /dev/shm:/dev/shm \
+    -v /etc/localtime:/etc/localtime:ro \
     -v ./ecal_to_ros/ros2:/opt/ros_ws/src/ecal_to_ros \
-    -v ./aw_radar_bridge:/opt/ros_ws/src/aw_radar_bridge \
-    aw_radar_bridge_humble
+    -v ./av_radar_bridge:/opt/ros_ws/src/av_radar_bridge \
+    av_radar_bridge:latest-dev
diff --git a/runtime.sh b/runtime.sh
@@ -13,10 +13,11 @@ fi
 
 # Build docker image only up to prebuilt stage
 DOCKER_BUILDKIT=1 docker build \
-    -t aw_radar_bridge_humble \
+    -t av_radar_bridge:latest \
     -f Dockerfile --target runtime .
 
 # Run docker image without volumes
 docker run -it --rm --net host --privileged \
     -v /dev/shm:/dev/shm \
-    aw_radar_bridge_humble $CMD
+    -v /etc/localtime:/etc/localtime:ro \
+    av_radar_bridge:latest $CMD