Add option to use rmw_connextdds

Dockerfile

@@ -37,6 +37,21 @@ RUN apt-get update && apt-get install -y \
       vim \
     && rm -rf /var/lib/apt/lists/*
 
+# # install RTI Connext DDS
+# # set up environment
+# ENV NDDSHOME /opt/rti.com/rti_connext_dds-6.0.1
+# WORKDIR $NDDSHOME
+# COPY ./rti ./
+# RUN yes | ./rti_connext_dds-6.0.1-eval-x64Linux3gcc5.4.0.run && \
+#     mv y/*/* ./ && rm -rf y
+# # set RTI DDS environment
+# ENV CONNEXTDDS_DIR $NDDSHOME
+# ENV PATH "$NDDSHOME/bin":$PATH
+# ENV LD_LIBRARY_PATH "$NDDSHOME/lib/x64Linux3gcc5.4.0":$LD_LIBRARY_PATH
+# # set RTI openssl environment
+# ENV PATH "$NDDSHOME/third_party/openssl-1.1.1d/x64Linux4gcc7.3.0/release/bin":$PATH
+# ENV LD_LIBRARY_PATH "$NDDSHOME/third_party/openssl-1.1.1d/x64Linux4gcc7.3.0/release/lib":$LD_LIBRARY_PATH
+
 # install overlay dependencies
 ARG OVERLAY_WS
 WORKDIR $OVERLAY_WS

configs/secure.conf

@@ -6,6 +6,7 @@ send-keys 'glances' Enter
 
 setenv FOO "foo"
 # setenv RMW_IMPLEMENTATION rmw_connext_cpp
+# setenv RMW_IMPLEMENTATION rmw_connextdds
 setenv ROS_SECURITY_ENABLE true
 setenv ROS_SECURITY_STRATEGY Enforce
 setenv ROS_SECURITY_KEYSTORE $TB3_DEMO_DIR/keystore

configs/unsecure.conf

@@ -6,5 +6,6 @@ send-keys 'glances' Enter
 
 setenv FOO "foo"
 # setenv RMW_IMPLEMENTATION rmw_connext_cpp
+# setenv RMW_IMPLEMENTATION rmw_connextdds
 
 source configs/common.conf

overlay/overlay.repos

@@ -1,4 +1,8 @@
 repositories:
+  # rticommunity/rmw_connextdds:
+  #   type: git
+  #   url: https://github.com/rticommunity/rmw_connextdds.git
+  #   version: master
   # ROBOTIS-GIT/turtlebot3:
   #   type: git
   #   # url: https://github.com/ROBOTIS-GIT/turtlebot3.git