Recommend Cyclone DDS

moveit · Sep 27, 2022 · a9a6818 · a9a6818
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diff --git a/doc/tutorials/getting_started/getting_started.rst b/doc/tutorials/getting_started/getting_started.rst
@@ -85,6 +85,15 @@ 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 ROS2 DDS has an issue. As a workaround, switch to Cyclone. (Note: this makes all nodes started using this RMW incompatible with any other nodes not using Cyclone DDS.)
+
+  sudo apt install ros-rolling-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>`
diff --git a/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst b/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst
@@ -7,7 +7,7 @@ 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>`.
+If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>`. As of Sep 26, 2022, ensure you have enabled Cyclone DDS as described there.
 
 Step 1: Launch the Demo and Configure the Plugin
 ------------------------------------------------