Cyclone DDS config from autoware causes error on launch

[yaukaizhi]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

Default cyclone DDS is ok, but tends to fail outdoors, causing ROS to crash. But using Fast DDS doesnt work at all it seems. Autoware has given a cyclone DDS config file but it causes errors on launch.

Expected behavior

No errors

Actual behavior

Errors on launch when using cyclone DDS

Steps to reproduce

use cyclone DDS

Versions

No response

Possible causes

No response

Additional context

No response

[yaukaizhi]

create a cyclonedds_config.xml file and paste the following

<?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/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain Id="any">
        <General>
            <Interfaces>
                <NetworkInterface autodetermine="true" priority="default" multicast="default" />
            </Interfaces>
            <AllowMulticast>default</AllowMulticast>
            <MaxMessageSize>65500B</MaxMessageSize>
        </General>
        <Internal>
            <SocketReceiveBufferSize min="10MB"/>
            <Watermarks>
                <WhcHigh>500kB</WhcHigh>
            </Watermarks>
        </Internal>
    </Domain>
</CycloneDDS>

add the following to .bashrc (remember to change the path for the cyclonedds_config.xml)

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=/home/kai/cyclonedds_config.xml
sudo sysctl -w net.core.rmem_max=2147483647
sudo sysctl net.ipv4.ipfrag_time=3
sudo sysctl net.ipv4.ipfrag_high_thresh=1342177280