Backport of Remove recommendation for Cyclone due to FastDDS issues (#799) to humble

.docker/Dockerfile

@@ -55,7 +55,6 @@ RUN --mount=type=cache,target=/root/.ccache/ \
     . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
     . "install/setup.sh" &&\
     sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
-    sudo apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
     colcon build \
             --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
             --ament-cmake-args -DCMAKE_BUILD_TYPE=Release \
@@ -64,6 +63,5 @@ RUN --mount=type=cache,target=/root/.ccache/ \
     rm -rf /var/lib/apt/lists/* && \
     # Update /ros_entrypoint.sh to source our new workspace
     sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/install/setup.bash#g" /ros_entrypoint.sh && \
-    echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /root/.bashrc && \
     echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
     echo "source /root/ws_moveit/install/setup.bash" >> /root/.bashrc

doc/tutorials/getting_started/getting_started.rst

@@ -85,6 +85,7 @@ Optional: add the previous command to your ``.bashrc``: ::
    not required and often skipped by advanced users who use more than one
    Colcon workspace at a time, but we recommend it for simplicity.
 
+<<<<<<< HEAD
 Switch to Cyclone DDS
 ^^^^^^^^^^^^^^^^^^^^^
 
@@ -94,6 +95,8 @@ As of Sep 26, 2022, the default ROS 2 middleware (RMW) implementation has an iss
   # You may want to add this to ~/.bashrc to source it automatically
   export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
+=======
+>>>>>>> 71ee840 (Remove recommendation for Cyclone due to FastDDS issues (#799))
 Next Step
 ^^^^^^^^^
 Nice job! Next we will :doc:`Visualize a robot with the interactive motion planning plugin for RViz </doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial>`

doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst

@@ -7,7 +7,12 @@ This tutorial will teach you how to create motion plans in MoveIt using RViz and
 
 Getting Started
 ---------------
+<<<<<<< HEAD
 If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`. As of Sep 26, 2022, ensure you have enabled Cyclone DDS as described there.
+=======
+If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`.
+If you followed the Docker Guide, also follow the :ref:`create_colcon_workspace` guide onwards to set up the tutorials.
+>>>>>>> 71ee840 (Remove recommendation for Cyclone due to FastDDS issues (#799))
 
 Step 1: Launch the Demo and Configure the Plugin
 ------------------------------------------------