feat: add dedicated Fast DDS 164 profile

config/dds/use_rdk_dds_164.sh

@@ -0,0 +1,30 @@
+#!/usr/bin/env bash
+
+if [[ "${BASH_SOURCE[0]}" == "$0" ]]; then
+  echo "ERROR: source this file instead of executing it" >&2
+  exit 64
+fi
+
+_rdk_dds_profile="/home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml"
+
+if ! ip -4 addr show dev wlx200db0c3fca5 2>/dev/null | grep -q 'inet 192\.168\.10\.164/'; then
+  echo "ERROR: wlx200db0c3fca5 does not own 192.168.10.164" >&2
+  unset _rdk_dds_profile
+  return 1
+fi
+
+if [[ ! -r "${_rdk_dds_profile}" ]]; then
+  echo "ERROR: unreadable Fast DDS profile: ${_rdk_dds_profile}" >&2
+  unset _rdk_dds_profile
+  return 1
+fi
+
+export ROS_DOMAIN_ID=22
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+export ROS_LOCALHOST_ONLY=0
+export FASTRTPS_DEFAULT_PROFILES_FILE="${_rdk_dds_profile}"
+export FASTDDS_DEFAULT_PROFILES_FILE="${_rdk_dds_profile}"
+
+printf 'DDS link enabled: domain=%s rmw=%s local=192.168.10.164 profile=%s\n' \
+  "${ROS_DOMAIN_ID}" "${RMW_IMPLEMENTATION}" "${_rdk_dds_profile}"
+unset _rdk_dds_profile