Merge branch 'studio-16-core-runner' into merge-studio-main

Author: shaur-k

.github/workflows/workspace_integration_test.yaml

@@ -8,7 +8,7 @@ on:
         default: main
       config_package:
         type: string
-        default: picknik_ur_mock_hw_config
+        default: lab_sim
       colcon_build_args:
         type: string
         default: ""
@@ -23,17 +23,14 @@ jobs:
   setup:
     runs-on: ubuntu-latest
     outputs:
-      # We return the main image_tag since we can no longer get it from the deprecated .env file
       image_tag: ${{ inputs.image_tag }}
     steps:
       - uses: actions/checkout@v4
   integration-test-in-studio-container:
     needs: setup
-    runs-on: ubuntu-latest
+    runs-on: studio_16_core_runner
     env:
       STUDIO_LICENSE_KEY: ${{ secrets.studio_license_key || secrets.STUDIO_CI_LICENSE_KEY }}
-      ROS_DOMAIN_ID: 49
-      ROS_LOCALHOST_ONLY: 1
       RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
       CYCLONEDDS_URI: /tmp/cyclonedds.xml
       STUDIO_DOCKER_TAG: ${{ inputs.image_tag }}
@@ -54,19 +51,29 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
+          lfs: true
       # The 'lo' interfaces will not have multicast, and will fail trying to claim a participant index
       # with the default cyclone dds config. We set one for the unit tests to be able to execute.
       - name: Configure DDS
         run: |
           cat <<EOF > /tmp/cyclonedds.xml
           <?xml version="1.0" ?>
           <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
-            <Domain id="any">
-              <Discovery>
-                <ParticipantIndex>auto</ParticipantIndex>
-                <MaxAutoParticipantIndex>120</MaxAutoParticipantIndex>
-              </Discovery>
-            </Domain>
+           <Domain id="any">
+               <General>
+                   <Interfaces>
+                       <NetworkInterface autodetermine="true"/>
+                   </Interfaces>
+                   <AllowMulticast>false</AllowMulticast>
+               </General>
+               <Discovery>
+                   <ParticipantIndex>auto</ParticipantIndex>
+                   <Peers>
+                       <Peer Address="127.0.0.1" />
+                   </Peers>
+                   <MaxAutoParticipantIndex>50</MaxAutoParticipantIndex>
+               </Discovery>
+           </Domain>
           </CycloneDDS>
           EOF
       - name: Install colcon mixins