CycloneDDS

Installation

Install cyclonedds from this link or follow the instructions below.

sudo apt-get install git cmake gcc

git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build
cmake -DBUILD_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX=$HOME/Documents/GitHub/cyclonedds/install ..
cmake --build . --target install

CycloneDDS config

for Unitree Simulation (Gazebo or Isaac Sim)

Use this CycloneDDS configuration for running simulation. It uses lo as the network interface. We recommend that you export this in your .bashrc or equivalent configuration file cyclonedds.xml. To add it to cyclonedds.xml:

cd cyclonedds
vi cyclonedds.xml

Add the following, then save and exit.

<CycloneDDS>
    <Domain>
        <General>
            <Interfaces>
                <NetworkInterface address="127.0.0.1" priority="default" multicast="default" />
            </Interfaces>
        </General>
        <Discovery>
            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
        </Discovery>
    </Domain>
</CycloneDDS>

Open your bashrc file

vi ~/.bashrc

Add the following, replacing /path/to/cyclonedds with the actual path to your CycloneDDS installation:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=/path/to/cyclonedds/cyclonedds.xml

Apply the changes

source ~/.bashrc

To add the config to your bashrc, run:

vim ~/.bashrc

And add the following, replacing /path/to/cyclonedds with the actual path to your CycloneDDS installation:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI='
<CycloneDDS>
    <Domain>
        <General>
            <Interfaces>
                <NetworkInterface address="127.0.0.1" priority="default" multicast="default" />
            </Interfaces>
        </General>
        <Discovery>
            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
        </Discovery>
    </Domain>
</CycloneDDS>'

Now run

source ~/.bashrc

This will apply the latest changes in the current shell session.