Tested with 'ros:galactic-ros-base' Docker Image

Open ROS Docker Container inside /test directory

Install missing dependencies (May need "apt update" before, sudo pass is "x11docker")
$ apt update
$ rosdep update --rosdistro=galactic
$ rosdep install -i --from-path src --rosdistro galactic -y

Build ROS packages
$ colcon build

Source Setup Files
$ . install/setup.bash

CPP_SRVCLI
----------

$ export CYCLONEDDS_URI='<Compatibility><ManySocketsMode>many</ManySocketsMode></Compatibility><Tracing><Verbosity>finest</Verbosity><Out>/home/john64/Desktop/rtps-fpga/download/rtps-test/ros/cyclonedds.log</Out></Tracing>'
$ export CYCLONEDDS_URI='<Tracing><Verbosity>finest</Verbosity><Out>/home/john64/Desktop/rtps-fpga/download/rtps-test/ros/cyclonedds.log</Out></Tracing>'

$ ros2 run cpp_srvcli server

$ ros2 run cpp_srvcli client 2 3

ACTION_TUTORIALS_CPP
--------------------

$ export CYCLONEDDS_URI='<Compatibility><ManySocketsMode>many</ManySocketsMode></Compatibility>'

$ ros2 run action_tutorials_cpp fibonacci_action_server

$ ros2 run action_tutorials_cpp fibonacci_action_client

CPP_LOOPBACK
------------

$ export CYCLONEDDS_URI='<Compatibility><ManySocketsMode>many</ManySocketsMode></Compatibility><Tracing><Verbosity>finest</Verbosity><Out>/home/john64/Desktop/rtps-fpga/download/rtps-test/ros/cyclonedds.log</Out></Tracing>'
$ export CYCLONEDDS_URI='<Compatibility><ManySocketsMode>many</ManySocketsMode></Compatibility>'

$ ros2 run cpp_loopback server

$ ros2 run cpp_loopback client




MISC
====
x11docker -it --network=host --sudouser --home='/home/john64'  -- '--' 'ros:galactic-ros-base' 'bash'