Merge pull request #26 from Intelligent-Testing-Lab/15-setup-dockerfile

15 setup dockerfile

Author: david-gasinski

Dockerfile

@@ -28,7 +28,14 @@ RUN python3 -m pip install -r requirements.txt && \
     tar -xvf PythonAPI.tar && \
     rm -rf PythonAPI.tar
 
+# update CYCLONE DDS Config for ROS
+RUN mkdir /cyclonedds && \
+    mv /autoware_scenario_runner/docker/cyclonedds.xml /cyclonedds/ && \
+    echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc && \
+    echo "export CYCLONEDDS_URI=file:///cyclonedds/cyclonedds.xml" >> ~/.bashrc && \
+    source ~/.bashrc
+
 ENV CARLA_API_ROOT="/autoware_scenario_runner/PythonAPI"
 ENV PYTHONPATH="${PYTHONPATH}:${CARLA_API_ROOT}/carla/agents:${CARLA_API_ROOT}/carla"
 
-ENTRYPOINT [ "/autoware_scenario_runner/entrypoint.sh" ] 
+ENTRYPOINT [ "/autoware_scenario_runner/entrypoint.sh" ]

docker/cyclonedds.xml

@@ -0,0 +1,18 @@
+<?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">
+    <General>
+      <Interfaces>
+        <NetworkInterface autodetermine="true" priority="default" multicast="default" />
+      </Interfaces>
+      <AllowMulticast>default</AllowMulticast>
+      <MaxMessageSize>65500B</MaxMessageSize>
+    </General>
+    <Internal>
+      <SocketReceiveBufferSize min="10MB"/>
+      <Watermarks>
+        <WhcHigh>500kB</WhcHigh>
+      </Watermarks>
+    </Internal>
+  </Domain>
+</CycloneDDS>