<?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">
<Internal>
<MinimumSocketReceiveBufferSize>10MB</MinimumSocketReceiveBufferSize>
</Internal>
</Domain>
</CycloneDDS>
.bashrc 增加
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=~.ros/cyclonedds.xml
sudo gedit /etc/sysctl.conf
net.core.rmem_default = 10485760
net.core.wmem_default = 10485760
net.core.rmem_max = 10485760
net.core.wmem_max = 10485760