Dockerfile.CycloneDDS-CXX

# docker build . -f dockerfiles/Dockerfile.cyclonedds-cxx -t performance_test_cyclone_dds_cxx
# docker run -it --shm-size 2G performance_test_cyclone_dds_cxx bash
# ros2 run performance_test perf_test -c CycloneDDS-CXX -p 0 -s 1 --zero-copy --reliable --keep-last --history-depth 16 --max-runtime 10 &
# sleep 1
# ros2 run performance_test perf_test -c CycloneDDS-CXX -p 1 -s 0 --zero-copy --reliable --keep-last --history-depth 16 -o none

# This Dockerfile intentionally uses foxy! Cyclone DDS is included with galactic,
# and we haven't sorted out how to keep the built-in Cyclone DDS from interfering
# with the hand-built Cyclone DDS. The ROS2 version doesn't really matter anyway,
# since the CycloneDDS-CXX plugin does not use rclcpp or anything related. The ros
# base containers are handy because they already have colcon, ament, etc. installed.
FROM osrf/ros:foxy-desktop

SHELL ["/bin/bash", "-c"]

RUN apt-get update && \
    apt-get install -y bison default-jdk libacl1-dev

RUN mkdir -p iceoryx_ws/src && \
    cd $_ && \
    git clone https://github.com/eclipse-iceoryx/iceoryx.git -b v1.0.1 --depth 1 && \
    cd .. && \
    colcon build \
      --install-base /opt/iceoryx \
      --cmake-args \
        -DIOX_MAX_PUBLISHERS=32 \
        -DIOX_MAX_SUBSCRIBERS=32

RUN source /opt/iceoryx/setup.bash && \
    git clone https://github.com/eclipse-cyclonedds/cyclonedds.git -b 0.8.1 --depth 1 && \
    cd cyclonedds && \
    mkdir -p build && \
    cd build && \
    cmake -DCMAKE_INSTALL_PREFIX=/opt/cyclonedds -DENABLE_SHM=ON .. && \
    cmake --build . && \
    cmake --build . --target install

RUN source /opt/iceoryx/setup.bash && \
    git clone https://github.com/eclipse-cyclonedds/cyclonedds-cxx.git -b 0.8.1 --depth 1 && \
    cd cyclonedds-cxx && \
    mkdir -p build && \
    cd build && \
    cmake -DCMAKE_INSTALL_PREFIX=/opt/cyclonedds-cxx \
          -DCMAKE_PREFIX_PATH=/opt/cyclonedds \
          -DENABLE_SHM=ON \
          .. && \
    cmake --build . && \
    cmake --build . --target install

ADD . /perf_test_ws/src/performance_test

RUN source /opt/ros/foxy/setup.bash && \
    source /opt/iceoryx/setup.bash && \
    cd /perf_test_ws && \
    colcon build \
      --install-base /opt/performance_test \
      --merge-install \
      --cmake-clean-cache \
      --cmake-args \
        -DCMAKE_BUILD_TYPE=Release \
        -DPERFORMANCE_TEST_RCLCPP_ENABLED=OFF \
        -DPERFORMANCE_TEST_CYCLONEDDS_CXX_ENABLED=ON

ADD dockerfiles/cyclonedds.xml /
ENV CYCLONEDDS_URI=/cyclonedds.xml

RUN echo "source /opt/ros/foxy/setup.bash" >> /root/.bashrc
RUN echo 'LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/opt/cyclonedds/lib"' >> /root/.bashrc
RUN echo 'LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/opt/cyclonedds-cxx/lib"' >> /root/.bashrc
RUN echo "source /opt/iceoryx/setup.bash" >> /root/.bashrc
RUN echo 'source /opt/performance_test/setup.bash' >> /root/.bashrc

ADD dockerfiles/roudi_config.toml /etc/iceoryx/roudi_config.toml
RUN echo "/opt/iceoryx/iceoryx_posh/bin/iox-roudi -c /etc/iceoryx/roudi_config.toml &" >> /root/.bashrc