ROS2 Configuration for OpenSplice Commercial with shared memory

ospl_shmem.xml

<OpenSplice>
    <Domain>
        <Name>ospl_shmem</Name>
        <Id>${ROS_DOMAIN_ID}</Id>
        <SingleProcess>false</SingleProcess>
        <Service name="ddsi2">
            <Command>ddsi2</Command>
        </Service>
        <Database>
            <Size>32M</Size>
        </Database>
    </Domain>
    <DDSI2Service name="ddsi2">
        <General>
            <NetworkInterfaceAddress>AUTO</NetworkInterfaceAddress>
            <AllowMulticast>spdp</AllowMulticast>
            <EnableMulticastLoopback>true</EnableMulticastLoopback>
            <CoexistWithNativeNetworking>false</CoexistWithNativeNetworking>
            <FragmentSize>64000B</FragmentSize>
        </General>
        <Compatibility>
            <!-- see the release notes and/or the OpenSplice configurator on DDSI interoperability -->
            <StandardsConformance>lax</StandardsConformance>
            <!-- the following one is necessary only for TwinOaks CoreDX DDS compatibility -->
            <!-- <ExplicitlyPublishQosSetToDefault>true</ExplicitlyPublishQosSetToDefault> -->
        </Compatibility>
        <Discovery>
            <!-- By default, OpenSplice only allows up to 9 participants per
                 machine (see http://download.prismtech.com/docs/Vortex/html/ospl/ConfGuide/guide.html#maxautoparticipantindex)
                 This means that only 9 nodes can be run on a given machine,
                 which even moderately complex robots easily achieve.
            -->
            <MaxAutoParticipantIndex>99</MaxAutoParticipantIndex>
        </Discovery>
    </DDSI2Service>
</OpenSplice>