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CycloneDDS configuration

Control cyclonedds discovery, network and tracing settings using xml file
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cyclone version

Check to right documentation for installed version

usage
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export CYCLONEDDS_URI="file://$HOME/CycloneDDS/my-config.xml"

Tracing

shm

large messages

Reporting and Tracing

doc

Demo: output conf to log file

create directory path before running

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<?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">
    <Tracing>
      <Verbosity>config</Verbosity>
      <OutputFile>
        ${HOME}/dds/log/cdds.log.${CYCLONEDDS_PID}
      </OutputFile>
    </Tracing>
  </Domain>
</CycloneDDS>

SHM

Using Shared Memory with ROS 2

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<?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/iceoryx/etc/cyclonedds.xsd">
    <Domain id="any">
        <SharedMemory>
            <Enable>true</Enable>
            <LogLevel>info</LogLevel>
        </SharedMemory>
    </Domain>
</CycloneDDS>
run rudi
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iox-roudi

Large message

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<?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>
/etc/sysctl.d/10-cyclone-max.conf
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# IP fragmentation settings
net.ipv4.ipfrag_time=3  # in seconds, default is 30 s
net.ipv4.ipfrag_high_thresh=134217728  # 128 MiB, default is 256 KiB

# Increase the maximum receive buffer size for network packets
net.core.rmem_max=2147483647  # 2 GiB, default is 208 KiB