The default DDS settings (Galactic) may not be optimal for data transmission. Different DDS settings can have varying performance. In this example, we use CycloneDDS. For more detailed information, please refer to the ROS DDS Tuning。
● Edit cyclonedds configuration file
sudo gedit /etc/cyclonedds/config.xml
Add
<?xml version="1.0" encoding="UTF-8"?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="https://cdds.io/confighttps://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain id="any">
<General>
<NetworkInterfaceAddress>lo</NetworkInterfaceAddress>
<AllowMulticast>false</AllowMulticast>
</General>
<Internal>
<MinimumSocketReceiveBufferSize>16MB</MinimumSocketReceiveBufferSize>
</Internal>
<Discovery>
<ParticipantIndex>auto</ParticipantIndex>
<MaxAutoParticipantIndex>30</MaxAutoParticipantIndex>
<Peers>
<Peer address="localhost"/>
</Peers>
</Discovery>
</Domain>
</CycloneDDS>
● Set the environment variables, add to .zshrc or .bashrc
export ROS_DOMAIN_ID=42 # Numbers from 0 to 232
export ROS_LOCALHOST_ONLY=1
export CYCLONEDDS_URI=file:///etc/cyclonedds/config.xml
Tip：to understand why the maximum ROS_DOMAIN_ID is 232, please visit The ROS DOMAIN ID ● Increase UDP receive buffer size Edit
/etc/sysctl.d/10-cyclone-max.conf
Add
net.core.rmem_max=2147483647
net.core.rmem_default=2147483647