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CycloneDDS Setup

Configure CycloneDDS to communicate with HDDS participants.

Installation​

Ubuntu/Debian​

sudo apt install cyclonedds-dev cyclonedds-tools

From Source​

git clone https://github.com/eclipse-cyclonedds/cyclonedds.git
cd cyclonedds
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j$(nproc)
sudo make install

ROS2 (Already Installed)​

# CycloneDDS is bundled with ROS2
source /opt/ros/$ROS_DISTRO/setup.bash

Basic Configuration​

Minimal Interop Configuration​

Create cyclonedds.xml:

<?xml version="1.0" encoding="UTF-8"?>
<CycloneDDS xmlns="https://cdds.io/config">
    <Domain id="any">
        <General>
            <AllowMulticast>true</AllowMulticast>
        </General>
    </Domain>
</CycloneDDS>

Apply configuration:

export CYCLONEDDS_URI=file:///path/to/cyclonedds.xml

Network Interface Selection​

<CycloneDDS xmlns="https://cdds.io/config">
    <Domain id="any">
        <General>
            <NetworkInterfaceAddress>eth0</NetworkInterfaceAddress>
            <!-- Or by IP -->
            <!-- <NetworkInterfaceAddress>192.168.1.100</NetworkInterfaceAddress> -->
        </General>
    </Domain>
</CycloneDDS>

Discovery Configuration​

Multicast Discovery (Default)​

<CycloneDDS xmlns="https://cdds.io/config">
    <Domain id="any">
        <General>
            <AllowMulticast>spdp</AllowMulticast>
        </General>
    </Domain>
</CycloneDDS>

Unicast Discovery (No Multicast)​

<CycloneDDS xmlns="https://cdds.io/config">
    <Domain id="any">
        <General>
            <AllowMulticast>false</AllowMulticast>
        </General>
        <Discovery>
            <Peers>
                <Peer address="192.168.1.100"/>  <!-- HDDS participant -->
                <Peer address="192.168.1.101"/>
            </Peers>
        </Discovery>
    </Domain>
</CycloneDDS>

Domain ID​

<CycloneDDS xmlns="https://cdds.io/config">
    <Domain id="42">
        <!-- Configuration for domain 42 -->
    </Domain>
</CycloneDDS>

Or via environment:

export ROS_DOMAIN_ID=42

Transport Configuration​

Socket Buffers​

<CycloneDDS xmlns="https://cdds.io/config">
    <Domain id="any">
        <Internal>
            <SocketReceiveBufferSize min="4MB"/>
            <SocketSendBufferSize min="4MB"/>
        </Internal>
    </Domain>
</CycloneDDS>

Shared Memory (Iceoryx)​

<CycloneDDS xmlns="https://cdds.io/config">
    <Domain id="any">
        <SharedMemory>
            <Enable>true</Enable>
            <SubId>0</SubId>
            <LogLevel>warning</LogLevel>
        </SharedMemory>
    </Domain>
</CycloneDDS>

Note: CycloneDDS shared memory uses Iceoryx and is not directly compatible with HDDS built-in shared memory. For same-host interop, use UDP loopback.

Debugging​

Enable Tracing​

<CycloneDDS xmlns="https://cdds.io/config">
    <Domain id="any">
        <Tracing>
            <Verbosity>finest</Verbosity>
            <OutputFile>cyclone.log</OutputFile>
            <Category>discovery</Category>
        </Tracing>
    </Domain>
</CycloneDDS>

Check Discovery​

# List discovered participants
ddsperf -D0 ping

# Monitor topic traffic
ddsperf sub MySensorTopic

Type Definition​

CycloneDDS and HDDS must use identical type definitions.

IDL File​

// sensor_data.idl
module sensors {
    struct SensorData {
        unsigned long sensor_id;  // @key
        float value;
        unsigned long long timestamp;
    };
};

Generate CycloneDDS Types​

idlc -l c sensor_data.idl
# Generates: sensor_data.c, sensor_data.h

Generate HDDS Types​

hdds-gen -l rust sensor_data.idl
# Generates: sensor_data.rs

Verification​

Test Connectivity​

CycloneDDS Publisher:

#include <dds/dds.h>
#include "sensor_data.h"

int main() {
    dds_entity_t participant = dds_create_participant(0, NULL, NULL);
    dds_entity_t topic = dds_create_topic(
        participant, &sensors_SensorData_desc, "SensorTopic", NULL, NULL);
    dds_entity_t writer = dds_create_writer(participant, topic, NULL, NULL);

    sensors_SensorData sample = { .sensor_id = 1, .value = 25.5, .timestamp = 0 };
    dds_write(writer, &sample);

    dds_delete(participant);
    return 0;
}

HDDS Subscriber:

use hdds::*;

fn main() -> Result<(), HddsError> {
    let participant = DomainParticipant::new(0)?;
    let topic = participant.create_topic::<SensorData>("SensorTopic")?;
    let subscriber = participant.create_subscriber()?;
    let reader = subscriber.create_datareader(&topic)?;

    loop {
        if let Ok(samples) = reader.take() {
            for (sample, _) in samples {
                println!("Received from CycloneDDS: {:?}", sample);
            }
        }
    }
}

Common Issues​

IssueSolution
No discoveryCheck domain ID matches, check network interface
Type mismatchUse same IDL, regenerate types
No dataCheck QoS compatibility

Full Example Configuration​

<?xml version="1.0" encoding="UTF-8"?>
<CycloneDDS xmlns="https://cdds.io/config">
    <Domain id="0">
        <General>
            <NetworkInterfaceAddress>auto</NetworkInterfaceAddress>
            <AllowMulticast>spdp</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
        </General>

        <Discovery>
            <ParticipantIndex>auto</ParticipantIndex>
            <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex>
        </Discovery>

        <Internal>
            <SocketReceiveBufferSize min="4MB"/>
            <SocketSendBufferSize min="4MB"/>
        </Internal>

        <Tracing>
            <Verbosity>warning</Verbosity>
        </Tracing>
    </Domain>
</CycloneDDS>

Next Steps​