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Use Cyclone DDS #60

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merged 3 commits into from
Jul 16, 2024
Merged

Use Cyclone DDS #60

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79e9c08
try using cyclone DDS
alberthli Jul 16, 2024
345581d
remove unnecessary extra dep specification for cyclone; make cyclone …
alberthli Jul 16, 2024
e198321
add perf optimizations for cyclone DDS to dev setup
alberthli Jul 16, 2024
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22 changes: 22 additions & 0 deletions scripts/source_obelisk.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -38,5 +38,27 @@ else
printf '\n%s\n%s\n%s\n' "$start_marker" "$cmd" "$end_marker" >> ~/.bashrc
fi

# makes cyclone DDS the default ROS2 middleware
cmd_local='if which python | grep -q ".pixi"; then
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
fi'
cmd_global='export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp'
start_marker="# >>> make cyclone DDS the rmw default >>>"
end_marker="# <<< make cyclone DDS the rmw default <<<"
if [ "$GLOBAL" == "true" ]; then
cmd="$cmd_global"
else
cmd="$cmd_local"
fi
if grep -Fq "$start_marker" ~/.bashrc && grep -Fq "$end_marker" ~/.bashrc; then
awk -v start="$start_marker" -v end="$end_marker" -v cmd="$cmd" '
$0 == start {print; print cmd; f=1; next}
$0 == end {f=0}
!f
' ~/.bashrc > ~/.bashrc.tmp && cp ~/.bashrc.tmp ~/.bashrc && rm ~/.bashrc.tmp
else
printf '\n%s\n%s\n%s\n' "$start_marker" "$cmd" "$end_marker" >> ~/.bashrc
fi

source ~/.bashrc
echo -e "\033[1;32mObelisk sourced!\033[0m"