From a9a6818604442e96af52fa5612101de9b4583156 Mon Sep 17 00:00:00 2001 From: AndyZe Date: Tue, 27 Sep 2022 08:35:43 -0500 Subject: [PATCH] Recommend Cyclone DDS --- doc/tutorials/getting_started/getting_started.rst | 9 +++++++++ .../quickstart_in_rviz/quickstart_in_rviz_tutorial.rst | 2 +- 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/doc/tutorials/getting_started/getting_started.rst b/doc/tutorials/getting_started/getting_started.rst index a9348d0634..77deaec050 100644 --- 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 ` diff --git a/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst b/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst index 4e82cd88a2..aa6aad1011 100644 --- 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 `. +If you haven't already done so, make sure you've completed the steps in :doc:`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 ------------------------------------------------