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Backport of Remove recommendation for Cyclone due to FastDDS issues (#799) to humble #805

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Backport of Remove recommendation for Cyclone due to FastDDS issues (#799) to humble #805

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ed8dd8d
Remove recommendation for Cyclone due to FastDDS issues (#799)
henningkayser Oct 30, 2023
1d8e23e
Resolve conflict
sjahr Oct 30, 2023
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2 changes: 0 additions & 2 deletions .docker/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,6 @@ RUN --mount=type=cache,target=/root/.ccache/ \
. "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
. "install/setup.sh" &&\
sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
sudo apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
colcon build \
--cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
--ament-cmake-args -DCMAKE_BUILD_TYPE=Release \
Expand All @@ -64,6 +63,5 @@ RUN --mount=type=cache,target=/root/.ccache/ \
rm -rf /var/lib/apt/lists/* && \
# Update /ros_entrypoint.sh to source our new workspace
sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/install/setup.bash#g" /ros_entrypoint.sh && \
echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /root/.bashrc && \
echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
echo "source /root/ws_moveit/install/setup.bash" >> /root/.bashrc
9 changes: 0 additions & 9 deletions doc/tutorials/getting_started/getting_started.rst
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Expand Up @@ -85,15 +85,6 @@ Optional: add the previous command to your ``.bashrc``: ::
not required and often skipped by advanced users who use more than one
Colcon workspace at a time, but we recommend it for simplicity.

Switch to Cyclone DDS
^^^^^^^^^^^^^^^^^^^^^

As of Sep 26, 2022, the default ROS 2 middleware (RMW) implementation has an issue. As a workaround, switch to Cyclone DDS. (Note: this makes all nodes started using this RMW incompatible with any other nodes not using Cyclone DDS.) ::

sudo apt install ros-humble-rmw-cyclonedds-cpp
# You may want to add this to ~/.bashrc to source it automatically
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Next Step
^^^^^^^^^
Nice job! Next we will :doc:`Visualize a robot with the interactive motion planning plugin for RViz </doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial>`
3 changes: 2 additions & 1 deletion doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst
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Expand Up @@ -7,7 +7,8 @@ This tutorial will teach you how to create motion plans in MoveIt using RViz and

Getting Started
---------------
If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`. As of Sep 26, 2022, ensure you have enabled Cyclone DDS as described there.
If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`.
If you followed the Docker Guide, also follow the :ref:`create_colcon_workspace` guide onwards to set up the tutorials.

Step 1: Launch the Demo and Configure the Plugin
------------------------------------------------
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