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Force rclrs_tests to use the UDPv4 transport instead of the default shared memory. #364

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Force rclrs_tests to use the UDPv4 transport instead of the default shared memory. #364

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5da34bc
Force the `rclrs_tests` to use the UDPv4 transport instead of the def…
maspe36 Feb 18, 2024
ff6b323
Remove set UDP port
maspe36 Feb 18, 2024
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29 changes: 29 additions & 0 deletions rclrs_tests/src/DEFAULT_FASTRTPS_PROFILES.xml
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<?xml version="1.0" encoding="UTF-8" ?>

<!-- UDPv4 is more reliable for unit tests than shared memory, which is the default. Force the transport to be UDPv4. -->
<!-- For this file to be used, FastDDS needs to be the DDS provider. There is no rmw API to do this. -->
<!-- https://fast-dds.docs.eprosima.com/en/v2.13.2/fastdds/xml_configuration/xml_configuration.html -->
<!-- https://fast-dds.docs.eprosima.com/en/v2.13.2/fastdds/transport/udp/udp.html#enabling-udp-transport -->

<dds>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<transport_descriptors>
<transport_descriptor>
<transport_id>udp_transport</transport_id>
<type>UDPv4</type>
<sendBufferSize>9216</sendBufferSize>
<receiveBufferSize>9216</receiveBufferSize>
<non_blocking_send>true</non_blocking_send>
</transport_descriptor>
</transport_descriptors>

<participant profile_name="UDPParticipant">
<rtps>
<userTransports>
<transport_id>udp_transport</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
</profiles>
<dds>