> For the complete documentation index, see [llms.txt](https://docs.openmind.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.openmind.com/core-concepts/middleware/cyclonedds.md).

# CycloneDDS

Install cyclonedds from this [link](https://cyclonedds.io/docs/cyclonedds/latest/installation/installation.html) or follow the instructions below.

```bash
sudo apt-get install git cmake gcc
```

```bash
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build
cmake -DBUILD_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX=$HOME/Documents/GitHub/cyclonedds/install ..
cmake --build . --target install
```

## CycloneDDS config

### for Unitree Simulation (Gazebo or Isaac Sim)

Use this CycloneDDS configuration for running simulation. It uses `lo` as the network interface. We recommend that you export this in your .bashrc or equivalent configuration file cyclonedds.xml. To add it to cyclonedds.xml:

```bash
cd cyclonedds
vi cyclonedds.xml
```

Add the following, then save and exit.

```bash
<CycloneDDS>
    <Domain>
        <General>
            <Interfaces>
                <NetworkInterface address="127.0.0.1" priority="default" multicast="default" />
            </Interfaces>
        </General>
        <Discovery>
            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
        </Discovery>
    </Domain>
</CycloneDDS>
```

Open your bashrc file

```bash
vi ~/.bashrc
```

Add the following, replacing /path/to/cyclonedds with the actual path to your CycloneDDS installation:

```bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=/path/to/cyclonedds/cyclonedds.xml
```

Apply the changes

```bash
source ~/.bashrc
```

To add the config to your bashrc, run:

```bash
vim ~/.bashrc
```

And add the following, replacing `/path/to/cyclonedds` with the actual path to your CycloneDDS installation:

```bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI='
<CycloneDDS>
    <Domain>
        <General>
            <Interfaces>
                <NetworkInterface address="127.0.0.1" priority="default" multicast="default" />
            </Interfaces>
        </General>
        <Discovery>
            <MaxAutoParticipantIndex>200</MaxAutoParticipantIndex>
        </Discovery>
    </Domain>
</CycloneDDS>'
```

Now run

```bash
source ~/.bashrc
```

This will apply the latest changes in the current shell session.


---

# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.

## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter:

```
GET https://docs.openmind.com/core-concepts/middleware/cyclonedds.md?ask=<question>&goal=<endgoal>
```

`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal.

The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.