Use cyclonedds by default

docker-compose.yml

@@ -13,7 +13,7 @@ services:
       # QT_QPA_PLATFORM: "${QT_QPA_PLATFORM:-xcb}"
       XDG_RUNTIME_DIR: "${XDG_RUNTIME_DIR}"
       ROS_MASTER_URI: "http://ros-master:11311"
-      PYTHONASYNCIODEBUG: "1"
+      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
 
     volumes:
       # X11 socket

guiTools/Dockerfile

@@ -11,7 +11,8 @@ RUN apt-get -y install qterminal mesa-utils \
     gstreamer1.0-gl \
     gstreamer1.0-plugins-good \
     gstreamer1.0-plugins-bad \
-    gstreamer1.0-plugins-ugly 
+    gstreamer1.0-plugins-ugly \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
 
 
 COPY --from=git.spirirobotics.com/spiri/gazebo-resources:main /plugins /ardupilot_gazebo/plugins