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'
