Add Fast DDS CI job

.github/workflows/build.yml

@@ -11,11 +11,23 @@ on:
   workflow_dispatch:
 
 jobs:
-  build-ubuntu:
+  build-ubuntu-cyclone-dds:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
       - name: Install dependencies
         run: sudo apt update && sudo apt install -y libacl1-dev libncurses5-dev
       - name: Build
-        run: cmake -DBUILD_TEST=ON -B build && cmake --build build -- -j$(nproc) && ./build/dds_gateway/test/dds_gateway_moduletests
+        run: cmake -Bbuild -DBUILD_TEST=ON -DDDS_STACK=CYCLONE_DDS && cmake --build build -- -j$(nproc)
+      - name: Module tests
+        run: ./build/dds_gateway/test/dds_gateway_moduletests
+  build-ubuntu-fast-dds:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: sudo apt update && sudo apt install -y libacl1-dev libncurses5-dev
+      - name: Build
+        run: cmake -Bbuild -DBUILD_TEST=ON -DDDS_STACK=FAST_DDS && cmake --build build -- -j$(nproc)
+      - name: Module tests
+        run: LD_LIBRARY_PATH=./build/dependencies/install/lib ./build/dds_gateway/test/dds_gateway_moduletests

CMakeLists.txt

@@ -102,6 +102,8 @@ if(${DDS_STACK} STREQUAL "CYCLONE_DDS")
 elseif(${DDS_STACK} STREQUAL "FAST_DDS")
     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/cmake/fastdds ${CMAKE_BINARY_DIR}/dependencies/fastdds/prebuild)
     message(INFO " Using FastDDS stack")
+    find_package(fastcdr CONFIG REQUIRED)
+    find_package(foonathan_memory CONFIG REQUIRED)
     find_package(fastrtps CONFIG REQUIRED)
 endif()
 
@@ -207,6 +209,8 @@ elseif(${DDS_STACK} STREQUAL "FAST_DDS")
     target_link_libraries(iceoryx_dds
         PUBLIC
         fastrtps
+        fastcdr
+        foonathan_memory
         iceoryx_hoofs::iceoryx_hoofs
     )
 endif()

README.md

@@ -28,9 +28,8 @@ sudo apt install cmake bison
 You can use the standard iceoryx cmake build approach with an activated `-DDDS_STACK=CYCLONE_DDS`
 or `-DDDS_STACK=FAST_DDS` switch.
 ```sh
-cmake -Bbuild -DBUILD_TEST=ON -DDDS_STACK=CYCLONE_DDS # DDDS_STACK=FAST_DDS
-cd build
-make
+cmake -Bbuild -DBUILD_TEST=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DDDS_STACK=CYCLONE_DDS # -DDDS_STACK=FAST_DDS
+cmake --build build -- -j$(nproc)
 ```
 
 # Usage
@@ -54,8 +53,8 @@ In this example we would like to offer or subscribe to the two services
 and to one service `larry_robotics.SystemMonitor.larry_info` from our 
 [larry demonstrator](https://gitlab.com/larry.robotics/larry.robotics).
 
-## Running icedelivery via CycloneDDS
-We can use CycloneDDS to run our [icedelivery example](../iceoryx_examples/icedelivery) 
+## Running icedelivery via CycloneDDS or FastDDS
+We can use CycloneDDS or FastDDS to run our [icedelivery example](../iceoryx_examples/icedelivery) 
 via a local area network. First we have to adjust the gateway configuration file 
 in `/etc/iceoryx/gateway_config.toml` and have to add the publisher service description
 from our example.
@@ -95,5 +94,3 @@ e.g.
 ```bash
 $INSTALL_DIR/bin/iox-dds-gateway
 ```
-
-

cmake/fastdds/CMakeLists.txt

@@ -133,6 +133,6 @@ endfunction()
 
 cmake_fetch_and_install(foonathan_memory_vendor -DBUILD_SHARED_LIBS=ON)
 cmake_fetch_and_install(fastcdr)
-cmake_fetch_and_install(fastdds)
+cmake_fetch_and_install(fastdds -DTHIRDPARTY=ON)
 
 gradlew_fetch_and_install(fastddsgen)

cmake/fastdds/fastdds.cmake.in

@@ -20,7 +20,7 @@ project(fastdds-download NONE)
 include(ExternalProject)
 ExternalProject_Add(ext_fastdds
   GIT_REPOSITORY    https://github.com/eProsima/Fast-DDS.git
-  GIT_TAG           8876ee2e8b4ddea09ac38712c4d68476b90ebb61 # Tag v2.10.5
+  GIT_TAG           e3fde250a75f9ea197c5901db1f8caf0b8e7526a # Tag v2.10.6
   SOURCE_DIR        "${CMAKE_BINARY_DIR}/dependencies/fastdds/src"
   BINARY_DIR        "${CMAKE_BINARY_DIR}/dependencies/fastdds/build"
   CONFIGURE_COMMAND ""