feat(udp_socket): allow user to set internal socket buffer size

udp_driver/include/boost_udp_driver/udp_socket.hpp

@@ -17,13 +17,13 @@
 #ifndef UDP_DRIVER__UDP_SOCKET_HPP_
 #define UDP_DRIVER__UDP_SOCKET_HPP_
 
-#include <array>
+#include "boost_io_context/io_context.hpp"
+
+#include <cstddef>
+#include <cstdint>
 #include <string>
 #include <vector>
 
-#include "boost_io_context/io_context.hpp"
-#include "boost_msg_converters/converters.hpp"
-
 namespace drivers
 {
 namespace udp_driver
@@ -67,6 +67,16 @@ class UdpSocket
   void bind();
   void setMulticast(bool value);
 
+  /**
+   * @brief Set the socket's internal receive buffer size to `n_bytes`. See `SO_RCVBUF` in `man 7
+   * socket` for more information.
+   *
+   * @param n_bytes The number of bytes to allocate.
+   * @return true If the buffer has been resized successfully.
+   * @return false If there was an error, such as the `net.core.rmem_max` value being exceeded.
+   */
+  bool setKernelBufferSize(int32_t n_bytes);
+
   /*
    * Blocking Send Operation
    */

udp_driver/src/udp_socket.cpp

@@ -16,15 +16,17 @@
 
 #include "boost_udp_driver/udp_socket.hpp"
 
+#include <rclcpp/logging.hpp>
+
+#include <boost/asio.hpp>
+#include <boost/system/system_error.hpp>
+
 #include <iostream>
-#include <utility>
 #include <string>
 #include <system_error>
+#include <utility>
 #include <vector>
 
-#include "boost/asio.hpp"
-#include "rclcpp/logging.hpp"
-
 namespace drivers
 {
 namespace udp_driver
@@ -263,5 +265,18 @@ void UdpSocket::setMulticast(bool value)
   m_use_multicast = value;
 }
 
+bool UdpSocket::setKernelBufferSize(int32_t n_bytes) {
+  boost::asio::socket_base::receive_buffer_size buffer_size_option{ n_bytes };
+
+  try {
+    m_udp_socket.set_option(buffer_size_option);
+  } catch (boost::system::system_error & error) {
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("UdpSocket::setkernelBufferSize"), error.what());
+    return false;
+  }
+
+  return true;
+}
+
 }  // namespace udp_driver
 }  // namespace drivers