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Additional settings for developers#

ROS 2 settings#

Colorizing logger output#

By default, ROS 2 logger doesn't colorize the output. To colorize it, write the following in your .bashrc:


Customizing the format of logger output#

By default, ROS 2 logger doesn't output detailed information such as file name, function name, or line number. To customize it, write the following in your .bashrc:

export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"

For more options, see here.

Enabling localhost-only communication#

By default, ROS 2 communicates using multi-cast, which may unnecessarily increase the network traffic. To avoid it, write the following in your .bashrc:


Setting up ROS_DOMAIN_ID#

ROS 2 uses ROS_DOMAIN_ID to create groups and communicate between machines in the groups. Since all ROS 2 nodes use domain ID 0 by default, it may cause unintended interference.

To avoid it, set a different domain ID for each group in your .bashrc:

# Replace X with the Domain ID you want to use
# Domain ID should be a number in range [0, 101] (inclusive)

For more information, see here.

Tuning DDS#

Autoware uses DDS for inter-node communication. ROS 2 documentation recommends users to tune DDS to utilize its capability. Especially, receive buffer size is the critical parameter for Autoware. If the parameter is not large enough, Autoware will failed in receiving large data like point cloud or image.

For example, to execute Autoware with CycloneDDS, prepare config file. A sample config file, named as cyclonedds_config.xml, is given below.

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="" xmlns:xsi="" xsi:schemaLocation="">
    <Domain id="any">
            <SocketReceiveBufferSize min="10MB"/>

Set the config file path and enlarge the Linux kernel maximum buffer size before launching Autoware.

export CYCLONEDDS_URI=file:///absolute/path/to/cyclonedds_config.xml
sudo sysctl -w net.core.rmem_max=2147483647

Refer to ROS 2 documentation for more information. Reading user guide for chosen DDS is helpful for more understanding.

Tuning DDS for multiple host computers (for advanced users)#

When Autoware runs on multiple host computers, IP Fragmentation should be taken into account. As ROS 2 documentation recommends, parameters for IP Fragmentation should be set as shown in the following example.

sudo sysctl net.ipv4.ipfrag_time=3
sudo sysctl net.ipv4.ipfrag_high_thresh=134217728     # (128 MB)