Add Cyclone DDS ROS RMW (#2)

* 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

Dockerfile

@@ -31,6 +31,7 @@ RUN apt-get update \
         apt-get -y --quiet --no-install-recommends install \
         ros-galactic-ros-base \
         ros-dev-tools \
+        ros-galactic-rmw-cyclonedds-cpp \
     && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS1 environment variables [For AV server]
@@ -43,9 +44,17 @@ ENV ROS1_WS /opt/ros1_msgs_ws
 # Setup ROS2 msgs workspace folder
 ENV ROS2_WS /opt/ros2_msgs_ws
 
+# Set cyclone DDS ROS RMW
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+COPY ./cyclone_dds.xml /opt/ros/
+ENV CYCLONEDDS_URI=file:///opt/ros/cyclone_dds.xml
+
 # Setup ROS1-2 bridge workspace
 ENV BRIDGE_WS /opt/ros1_bridge_ws
 
+# Enable ROS log colorised output
+ENV RCUTILS_COLORIZED_OUTPUT=1
+
 # -----------------------------------------------------------------------
 
 FROM base AS runtime

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>
+            <MinimumSocketReceiveBufferSize>10MB</MinimumSocketReceiveBufferSize>
+        </Internal>
+    </Domain>
+</CycloneDDS>

dev.sh

@@ -5,12 +5,13 @@
 
 # Build docker image up to dev stage
 DOCKER_BUILDKIT=1 docker build \
-    -t av_ros1_bridge:latest \
+    -t av_ros1_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/ros1:/opt/ros1_msgs_ws/src/ecal_to_ros \
     -v ./ecal_to_ros/ros2:/opt/ros2_msgs_ws/src/ecal_to_ros \
     -v ./bin:/opt/ros1_bridge_ws/src/ros1_bridge/bin \
@@ -22,4 +23,4 @@ docker run -it --rm --net host --privileged \
     -v ./test:/opt/ros1_bridge_ws/src/ros1_bridge/test \
     -v ./CMakeLists.txt:/opt/ros1_bridge_ws/src/ros1_bridge/CMakeLists.txt \
     -v ./package.xml:/opt/ros1_bridge_ws/src/ros1_bridge/package.xml \
-    av_ros1_bridge:latest
+    av_ros1_bridge:latest-dev

runtime.sh

@@ -19,4 +19,5 @@ DOCKER_BUILDKIT=1 docker build \
 # Run docker image without volumes
 docker run -it --rm --net host --privileged \
     -v /dev/shm:/dev/shm \
+    -v /etc/localtime:/etc/localtime:ro \
     av_ros1_bridge:latest $CMD