ROS2 source environment with DDS switcher

env_ros2.sh

#!/usr/bin/env bash

use_fastdds=1

source /opt/ros/humble/setup.bash
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

ws_setup=/home/XXX/ros2_ws/install/setup.bash
if [ -f $ws_setup ]
then
    source $ws_setup
else
    local_setup_done="\n\033[93mWorkspace setup not sourced\033[0m"
fi

export ROS_DOMAIN_ID=0

unset RMW_IMPLEMENTATION
unset ROS_SUPER_CLIENT=True
unset ROS_DISCOVERY_SERVER
unset CYCLONEDDS_URI

dds_impl=
if [ -n "${use_fastdds}" ] && [ 1 == "$use_fastdds" ]
then
    export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
    #[ -t 0 ] && export ROS_SUPER_CLIENT=True || export ROS_SUPER_CLIENT=False
    export ROS_SUPER_CLIENT=True
    export ROS_DISCOVERY_SERVER="127.0.0.1:11811;"
    export FASTRTPS_DEFAULT_PROFILES_FILE=/home/XXX/ros2_ws/ros_config/fastdds_super_client.xml
    dds_impl="FastDDS"
else
    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    export CYCLONEDDS_URI=/home/XXX/ros2_ws/ros_config/cyclonedds_pc.xml
    dds_impl="CycloneDDS"
fi

export IGNITION_VERSION=fortress
export WEBOTS_HOME=/usr/local/webots

echo -e "Loaded ROS2 Environment with \033[1m\033[92m${dds_impl}\033[0m${local_setup_done}"