cyclonessd ROS2 lidar topic 数据丢帧 系统配置

<?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