Update configure_cyclonedds.sh

Author: kPatch

scripts/configure_cyclonedds.sh

@@ -1,16 +1,102 @@
 #!/bin/bash
+# configure_cyclonedds.sh - Configure CycloneDDS middleware for ROS2
+#
+# DESCRIPTION:
+#   This script configures Eclipse CycloneDDS as the ROS2 middleware implementation.
+#   CycloneDDS is a high-performance, open-source DDS implementation that provides
+#   better performance and reliability compared to the default FastDDS in many scenarios.
+#
+#   The script permanently adds environment variables to ~/.bashrc to ensure
+#   CycloneDDS is used as the RMW (ROS Middleware) implementation across all
+#   ROS2 sessions.
+#
+# USAGE:
+#   ./configure_cyclonedds.sh
+#
+# WHAT IT CONFIGURES:
+#   1. RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+#      - Sets CycloneDDS as the ROS2 middleware implementation
+#      - Alternative to default FastDDS (rmw_fastrtps_cpp)
+#
+#   2. CYCLONEDDS_URI with discovery settings:
+#      - AllowMulticast=true: Enables multicast for node discovery
+#      - ParticipantIndex=auto: Automatic participant indexing
+#      - MaxAutoParticipantIndex=32: Supports up to 32 participants
+#
+# REQUIREMENTS:
+#   - CycloneDDS must be installed: sudo apt install ros-$ROS_DISTRO-rmw-cyclonedx-cpp
+#   - Write permissions to ~/.bashrc
+#
+# PERMANENT CHANGES:
+#   ⚠️  WARNING: This script modifies ~/.bashrc permanently
+#   The environment variables will persist across all future shell sessions
+#
+# WHY CYCLONEDDS:
+#   - Better performance for large message throughput
+#   - More reliable discovery in complex network environments  
+#   - Lower CPU usage compared to FastDDS in many scenarios
+#   - Better multicast support
+#
+# USAGE:
+#   chmod +x scripts/configure_cyclonedds.sh
+#   ./scripts/configure_cyclonedds.sh
+#
+# TO VERIFY CONFIGURATION:
+#   echo $RMW_IMPLEMENTATION  # Should show: rmw_cyclonedds_cpp
+#   ros2 doctor --report       # Should show CycloneDDS as middleware
 
-# Add environment variable exports to ~/.bashrc if they don't already exist
+echo "=== CycloneDDS Configuration Script ==="
+echo "This script will configure Eclipse CycloneDDS as your ROS2 middleware."
+echo ""
+
+# Check if CycloneDDS is installed
+if ! dpkg -l | grep -q "rmw-cyclonedx-cpp"; then
+    echo "⚠️  Warning: CycloneDDS may not be installed."
+    echo "   Install with: sudo apt install ros-\$ROS_DISTRO-rmw-cyclonedx-cpp"
+    echo "   Continuing anyway..."
+    echo ""
+fi
+
+echo "Configuring ROS2 middleware settings..."
+
+# Configure RMW Implementation (CycloneDDS)
+echo ""
+echo "[1/2] Setting RMW_IMPLEMENTATION to CycloneDDS..."
 if ! grep -q "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" ~/.bashrc; then
     echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc
-    echo "Added RMW_IMPLEMENTATION export to ~/.bashrc"
+    echo "✓ Added RMW_IMPLEMENTATION=rmw_cyclonedds_cpp to ~/.bashrc"
+else
+    echo "✓ RMW_IMPLEMENTATION already configured in ~/.bashrc"
 fi
 
+# Configure CycloneDDS Discovery Settings
+echo ""
+echo "[2/2] Configuring CycloneDDS discovery settings..."
 if ! grep -q "export CYCLONEDDS_URI=" ~/.bashrc; then
+    # Add CycloneDDS configuration for optimal discovery
     echo "export CYCLONEDDS_URI='<CycloneDDS><Domain><General><AllowMulticast>true</AllowMulticast></General><Discovery><ParticipantIndex>auto</ParticipantIndex><MaxAutoParticipantIndex>32</MaxAutoParticipantIndex></Discovery></Domain></CycloneDDS>'" >> ~/.bashrc
-    echo "Added CYCLONEDDS_URI export to ~/.bashrc"
+    echo "✓ Added CycloneDDS discovery configuration to ~/.bashrc"
+    echo "  - Multicast discovery: enabled"
+    echo "  - Participant indexing: automatic"  
+    echo "  - Max participants: 32"
+else
+    echo "✓ CYCLONEDDS_URI already configured in ~/.bashrc"
 fi
 
-# Source the bashrc file to apply changes to current session
+# Apply changes to current session
+echo ""
+echo "Applying configuration to current session..."
 source ~/.bashrc
-echo "Sourced ~/.bashrc - environment variables are now active"
+echo "✓ Configuration applied"
+
+echo ""
+echo "=== Configuration Complete ==="
+echo "CycloneDDS is now configured as your ROS2 middleware."
+echo ""
+echo "To verify the configuration:"
+echo "  echo \$RMW_IMPLEMENTATION    # Should show: rmw_cyclonedds_cpp"
+echo "  ros2 doctor --report         # Should show CycloneDDS info"
+echo ""
+echo "⚠️  Note: Changes are permanent in ~/.bashrc"
+echo "   To revert, manually remove the added lines from ~/.bashrc"
+echo ""