updated DDS configs

Author: david-gasinski

Dockerfile

@@ -48,7 +48,7 @@ RUN python3 -m pip install -r requirements.txt && \
 # update CYCLONE DDS Config for ROS
 RUN mkdir /cyclonedds && \
     mv /autoware_scenario_runner/docker/cyclonedds_local.xml /cyclonedds/ && \
-    mv /autoware_scenario_runner/docker/cyclonedds_dist.xml /cyclonedds/ && \
+    mv /autoware_scenario_runner/docker/cyclonedds_distributed.xml /cyclonedds/ && \
     rm -rf /autoware_scenario_runner/docker && \
     echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc && \
     echo "alias rossrc='source ${AUTOWARE_MSG_PKG} && source ${ROS_PKG} && echo Sourced'" >> ~/.bashrc && \

docker/cyclonedds_dist.xml docker/cyclonedds_distributed.xmldocker/cyclonedds_dist.xml renamed to docker/cyclonedds_distributed.xml

@@ -3,20 +3,26 @@
   <Domain Id="any">
     <General>
       <Interfaces>
-        <NetworkInterface autodetermine="true" priority="default" multicast="default" />
+        <NetworkInterface name="auto" priority="default" multicast="false" />
       </Interfaces>
-      <AllowMulticast>default</AllowMulticast>
+
+      <AllowMulticast>false</AllowMulticast>
+
       <MaxMessageSize>65500B</MaxMessageSize>
     </General>
+
+    <Discovery>
+      <Peers>
+        <Peer address="${AUTOWARE_IP}" />
+      </Peers>
+      <ParticipantIndex>auto</ParticipantIndex>
+    </Discovery>
+
     <Internal>
-      <SocketReceiveBufferSize min="32MB"/>
-      <SocketSendBufferSize min="8MB"/>
+      <SocketReceiveBufferSize min="10MB"/>
       <Watermarks>
-        <WhcHigh>1MB</WhcHigh>
+        <WhcHigh>500kB</WhcHigh>
       </Watermarks>
     </Internal>
-    <Tracing>
-      <Verbosity>warning</Verbosity>
-    </Tracing>
   </Domain>
 </CycloneDDS>