Add roudi config and update example (#522)

Author: mvukov

examples/zero_copy/BUILD.bazel

@@ -90,7 +90,10 @@ py_library(
 
 ros2_launch(
     name = "zero_copy",
-    data = ["cyclonedds.xml"],
+    data = [
+        "cyclonedds.xml",
+        "roudi.toml",
+    ],
     launch_file = "zero_copy.py",
     nodes = [
         ":listener",

examples/zero_copy/Chatter.msg

@@ -1,6 +1,6 @@
 uint64 timestamp
 uint64 count
 # Shared memory backend can only deal with fixed size messages.
-# 3145728 = 3*1024*1024 = 3MiB
-char[3145728] data
+# For reference, FHD image: 3 * 1080 * 1920 = 6220800 bytes.
+char[6220800] data
 uint64 data_length

examples/zero_copy/roudi.toml

@@ -0,0 +1,18 @@
+[general]
+version = 1
+
+[[segment]]
+
+[[segment.mempool]]
+size = 32
+count = 16
+
+[[segment.mempool]]
+# 8 MiB
+size = 8388608
+count = 16
+
+[[segment.mempool]]
+# 32 MiB
+size = 33554432
+count = 16

examples/zero_copy/zero_copy.py

@@ -72,7 +72,11 @@ def generate_launch_description():
         # roudi is a shared memory manager that also has to be started.
         launch.actions.ExecuteProcess(
             name='iceoryx_roudi',
-            cmd=[zero_copy.roudi.ROUDI_PATH],
+            cmd=[
+                zero_copy.roudi.ROUDI_PATH,
+                '-c',
+                'zero_copy/roudi.toml',
+            ],
         ),
         launch.actions.SetEnvironmentVariable(name='CYCLONEDDS_URI',
                                               value='zero_copy/cyclonedds.xml'),