feat: add dedicated Fast DDS 164 profile
This commit is contained in:
35
config/dds/fastdds_rdk_164.xml
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35
config/dds/fastdds_rdk_164.xml
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<?xml version="1.0" encoding="UTF-8" ?>
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<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
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<transport_descriptors>
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<transport_descriptor>
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<transport_id>rdk_udp_164</transport_id>
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<type>UDPv4</type>
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<interfaceWhiteList>
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<address>192.168.10.164</address>
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</interfaceWhiteList>
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</transport_descriptor>
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<transport_descriptor>
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<transport_id>rdk_shm</transport_id>
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<type>SHM</type>
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</transport_descriptor>
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</transport_descriptors>
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<participant profile_name="rdk_dds_164" is_default_profile="true">
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<rtps>
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<builtin>
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<initialPeersList>
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<locator>
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<udpv4>
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<address>192.168.10.151</address>
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</udpv4>
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</locator>
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</initialPeersList>
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</builtin>
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<userTransports>
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<transport_id>rdk_udp_164</transport_id>
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<transport_id>rdk_shm</transport_id>
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</userTransports>
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<useBuiltinTransports>false</useBuiltinTransports>
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</rtps>
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</participant>
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</profiles>
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30
config/dds/use_rdk_dds_164.sh
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30
config/dds/use_rdk_dds_164.sh
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#!/usr/bin/env bash
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if [[ "${BASH_SOURCE[0]}" == "$0" ]]; then
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echo "ERROR: source this file instead of executing it" >&2
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exit 64
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fi
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_rdk_dds_profile="/home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml"
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if ! ip -4 addr show dev wlx200db0c3fca5 2>/dev/null | grep -q 'inet 192\.168\.10\.164/'; then
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echo "ERROR: wlx200db0c3fca5 does not own 192.168.10.164" >&2
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unset _rdk_dds_profile
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return 1
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fi
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if [[ ! -r "${_rdk_dds_profile}" ]]; then
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echo "ERROR: unreadable Fast DDS profile: ${_rdk_dds_profile}" >&2
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unset _rdk_dds_profile
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return 1
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fi
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export ROS_DOMAIN_ID=22
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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export ROS_LOCALHOST_ONLY=0
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export FASTRTPS_DEFAULT_PROFILES_FILE="${_rdk_dds_profile}"
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export FASTDDS_DEFAULT_PROFILES_FILE="${_rdk_dds_profile}"
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printf 'DDS link enabled: domain=%s rmw=%s local=192.168.10.164 profile=%s\n' \
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"${ROS_DOMAIN_ID}" "${RMW_IMPLEMENTATION}" "${_rdk_dds_profile}"
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unset _rdk_dds_profile
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@@ -772,3 +772,96 @@ Expected：新提交只涉及四个 DDS 配置文件和本 Markdown；原有 dir
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- 当前 RMW 为 `rmw_fastrtps_cpp`。
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- 当前 RMW 为 `rmw_fastrtps_cpp`。
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- 实施开始时仓库已有用户内容：`.vscode/browse.vc.db*` 修改，以及 `.codex`、`resource/`、`src/navigation/`、`src/obstacle_scanner/`、`src/origincar_birdseye/`、`src/third_party/`、`tf_bag/` 等未跟踪路径。
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- 实施开始时仓库已有用户内容：`.vscode/browse.vc.db*` 修改，以及 `.codex`、`resource/`、`src/navigation/`、`src/obstacle_scanner/`、`src/origincar_birdseye/`、`src/third_party/`、`tf_bag/` 等未跟踪路径。
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- 本任务不会暂存、修改或清理上述已有用户内容。
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- 本任务不会暂存、修改或清理上述已有用户内容。
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### RDKx5 配置实施结果
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- 新增目录：`/home/sunrise/yiliao_ws/config/dds/`
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- `/home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml`
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- 权限：`0644`
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- SHA-256：`f6714ed471930500bc42d5100113782fb585ce50d48326118a0d0a3c8903d1be`
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- `/home/sunrise/yiliao_ws/config/dds/use_rdk_dds_164.sh`
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- 权限：`0755`
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- SHA-256：`5b40b2d3c61bd9d7eedfdb11ef1bb43dd60b3cdbb67ddcb1e2da01ab79996059`
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XML 完整内容：
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```xml
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<?xml version="1.0" encoding="UTF-8" ?>
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<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
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<transport_descriptors>
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<transport_descriptor>
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<transport_id>rdk_udp_164</transport_id>
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<type>UDPv4</type>
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<interfaceWhiteList>
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<address>192.168.10.164</address>
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</interfaceWhiteList>
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</transport_descriptor>
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<transport_descriptor>
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<transport_id>rdk_shm</transport_id>
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<type>SHM</type>
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</transport_descriptor>
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</transport_descriptors>
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<participant profile_name="rdk_dds_164" is_default_profile="true">
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<rtps>
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<builtin>
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<initialPeersList>
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<locator>
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<udpv4>
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<address>192.168.10.151</address>
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</udpv4>
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</locator>
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</initialPeersList>
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</builtin>
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<userTransports>
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<transport_id>rdk_udp_164</transport_id>
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<transport_id>rdk_shm</transport_id>
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</userTransports>
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<useBuiltinTransports>false</useBuiltinTransports>
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</rtps>
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</participant>
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</profiles>
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```
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环境脚本完整内容：
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```bash
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#!/usr/bin/env bash
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if [[ "${BASH_SOURCE[0]}" == "$0" ]]; then
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echo "ERROR: source this file instead of executing it" >&2
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exit 64
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fi
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_rdk_dds_profile="/home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml"
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if ! ip -4 addr show dev wlx200db0c3fca5 2>/dev/null | grep -q 'inet 192\.168\.10\.164/'; then
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echo "ERROR: wlx200db0c3fca5 does not own 192.168.10.164" >&2
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unset _rdk_dds_profile
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return 1
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fi
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if [[ ! -r "${_rdk_dds_profile}" ]]; then
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echo "ERROR: unreadable Fast DDS profile: ${_rdk_dds_profile}" >&2
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unset _rdk_dds_profile
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return 1
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fi
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export ROS_DOMAIN_ID=22
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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export ROS_LOCALHOST_ONLY=0
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export FASTRTPS_DEFAULT_PROFILES_FILE="${_rdk_dds_profile}"
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export FASTDDS_DEFAULT_PROFILES_FILE="${_rdk_dds_profile}"
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printf 'DDS link enabled: domain=%s rmw=%s local=192.168.10.164 profile=%s\n' \
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"${ROS_DOMAIN_ID}" "${RMW_IMPLEMENTATION}" "${_rdk_dds_profile}"
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unset _rdk_dds_profile
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```
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验证结果：
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- `bash -n`：通过。
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- XML well-formed：通过。
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- Fast DDS/RMW participant 实际创建：通过，输出 `RMW participant created`。
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- 环境摘要：Domain `22`、RMW `rmw_fastrtps_cpp`、本地 DDS 地址 `.164`。
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- 首次从 PowerShell 直接拼接远端 `python3 -c` 时，引号在 SSH 边界被破坏，Python 在读取 XML 前即报 `SyntaxError`。该失败与 XML 内容无关，未修改配置；改为通过 WSL Bash 和 stdin 传入验证程序后，相同验证完整通过。
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