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README: added tip on CycloneDDS to disable multicast

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matlabbe
2025-05-01 19:52:44 -07:00
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@@ -68,9 +68,12 @@ export RCUTILS_COLORIZED_OUTPUT=1
```
## Recommended DDS
If RTAB-Map's GUI or topic frequency feel laggy (even if processing time looks fast enough), it may be caused by the DDS. I recommend to use [Cyclone DDS](https://docs.ros.org/en/foxy/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you can try it by adding this before launching any nodes/launch files:
If RTAB-Map's GUI or topic frequency feel laggy (even if processing time looks fast enough), it may be caused by the DDS. I recommend to use [Cyclone DDS](https://docs.ros.org/en/foxy/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html), you can try it by adding this before launching any nodes/launch files (or add to your `.bashrc`):
```bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# Cyclone prefers multicast by default, if your router got too much spammed,
# disable multicast with (https://github.com/ros2/rmw_cyclonedds/issues/489):
export CYCLONEDDS_URI="<Disc><DefaultMulticastAddress>0.0.0.0</></>"
```
# Installation