Add Flag to Enable IPC

docs/rtwcli/index.rst

@@ -142,3 +142,30 @@ The workspace can additionally be created using ``.repos`` files in your reposit
 
    This is done due to the fact that the setting up of the rocker container
    fails often.
+
+How to setup ROS2 RTW for inter communication
+""""""""""""""""""""""""""""""""""""""""""""""
+.. _rtwcli-ipc-usage:
+
+The CLI provides a way to setup ROS2 RTW for inter communication between RTW workspaces.
+
+.. important::
+    make sure to use the updated ``rocker`` from `PR #285 <https://github.com/osrf/rocker/pull/285>`_. Until this PR is merged you are encouraged to setup the rocker with:
+
+* Example:
+
+.. code-block:: bash
+
+   rtw workspace create \
+      --ws-folder humble_ws \
+      --ros-distro humble \
+      --docker --enable-ipc
+
+   rtw workspace create \
+      --ws-folder rolling_ws \
+      --ros-distro rolling \
+      --docker --enable-ipc
+
+   (humble_ws)$ ros2 run demo_nodes_cpp talker
+
+   (rolling_ws)$ ros2 run demo_nodes_cpp listener

rtwcli/rtw_cmds/rtw_cmds/workspace/create_verb.py

@@ -122,6 +122,7 @@ class CreateVerbArgs:
     repos_no_skip_existing: bool = False
     disable_nvidia: bool = False
     docker: bool = False
+    enable_ipc: bool = False
 
     @property
     def ws_name(self) -> str:
@@ -385,6 +386,12 @@ def add_arguments(self, parser: argparse.ArgumentParser, cli_name: str):
             help="Disable nvidia rocker flag",
             default=False,
         )
+        parser.add_argument(
+            "--enable-ipc",
+            action="store_true",
+            help="Enable IPC for the docker workspace.",
+            default=False,
+        )
         parser.add_argument(
             "--ws-repos-file-name",
             type=str,
@@ -916,6 +923,7 @@ def main(self, *, args):
                 disable_nvidia=create_args.disable_nvidia,
                 container_name=create_args.container_name,
                 hostname=create_args.hostname,
+                enable_ipc=create_args.enable_ipc,
                 ssh_abs_path=create_args.ssh_abs_path,
                 ssh_abs_path_in_docker=create_args.ssh_abs_path_in_docker,
                 final_image_name=create_args.final_image_name,

rtwcli/rtw_cmds/rtw_cmds/workspace/import_verb.py

@@ -36,6 +36,7 @@ class ImportVerbArgs:
     standalone_docker_image: str
     docker: bool = True
     disable_nvidia: bool = False
+    enable_ipc: bool = False
     standalone: bool = True
     final_image_name: str = ""
     container_name: str = ""
@@ -88,6 +89,12 @@ def add_arguments(self, parser: argparse.ArgumentParser, cli_name: str):
             help="Disable nvidia rocker flag",
             default=False,
         )
+        parser.add_argument(
+            "--enable-ipc",
+            action="store_true",
+            help="Enable IPC for the docker workspace.",
+            default=False,
+        )
         parser.add_argument(
             "--final-image-name",
             type=str,
@@ -136,6 +143,7 @@ def main(self, *, args):
             disable_nvidia=import_args.disable_nvidia,
             container_name=import_args.container_name,
             hostname=import_args.hostname,
+            enable_ipc=import_args.enable_ipc,
             ssh_abs_path=import_args.ssh_abs_path,
             ssh_abs_path_in_docker=import_args.ssh_abs_path_in_docker,
             final_image_name=import_args.final_image_name,

rtwcli/rtwcli/rtwcli/rocker_utils.py

@@ -24,6 +24,7 @@ def generate_rocker_flags(
     disable_nvidia: bool,
     container_name: str,
     hostname: str,
+    enable_ipc: bool,
     ssh_abs_path: str,
     ssh_abs_path_in_docker: str,
     final_image_name: str,
@@ -54,6 +55,9 @@ def generate_rocker_flags(
     rocker_flags.extend(["--name", container_name])
     rocker_flags.extend(["--network", "host"])
 
+    if enable_ipc:
+        rocker_flags.extend(["--ipc", "host"])
+
     if not disable_nvidia:
         rocker_flags.extend(["--nvidia", "gpus"])