Added build instructions in README and added build to workflow.

.github/workflows/rust.yml

@@ -36,7 +36,7 @@ jobs:
 
       - name: Install ACL
         if: startsWith(matrix.os,'ubuntu')
-        run: sudo apt-get -y install acl-dev
+        run: sudo apt-get -y install libacl1-dev
 
       - name: Install Rust toolchain
         uses: actions-rs/toolchain@v1
@@ -61,11 +61,23 @@ jobs:
           command: build
           args: -p zenoh-plugin-dds --verbose --all-targets
 
+      - name: Build zenoh-plugin-dds (with dds_shm)
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: -p zenoh-plugin-dds --features dds_shm --verbose --all-targets
+
       - name: Build zenoh-bridge-dds
         uses: actions-rs/cargo@v1
         with:
           command: build
-          args: -p zenoh-bridge-dds --verbose --all-targets
+          args: -p zenoh-bridge-dds  --verbose --all-targets
+
+      - name: Build zenoh-bridge-dds (with dds_shm)
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: -p zenoh-bridge-dds --features dds_shm  --verbose --all-targets
 
       - name: Run tests
         uses: actions-rs/cargo@v1

README.md

@@ -114,6 +114,24 @@ $ cargo build --release -p zenoh-bridge-dds
 The **`zenoh-bridge-dds`** binary will be generated in the `target/release` sub-directory.
 
 
+### Enabling Cyclone DDS Shared Memory Support
+
+Cyclone DDS Shared memory support is provided by the [Iceoryx library](https://iceoryx.io/). Iceoryx introduces additional system requirements which are documented [here](https://iceoryx.io/v2.0.1/getting-started/installation/#dependencies).
+
+To build the zenoh bridge for DDS with support for shared memory the `dds_shm` optional feature must be enabled during the build process as follows:
+- plugin library:
+```bash
+$ cargo build --release -p zenoh-plugin-dds --features dds_shm
+```
+
+- standalone executable binary:
+```bash
+$ cargo build --release -p zenoh-bridge-dds --features dds_shm
+```
+
+See [here](https://cyclonedds.io/docs/cyclonedds/latest/shared_memory/shared_memory.html) for more details of shared memory support in Cyclone DDS.
+
+
 ### ROS2 package
 If you're a ROS2 user, you can also build `zenoh-bridge-dds` as a ROS package running:
 ```bash
@@ -247,8 +265,7 @@ The `"dds"` part of this same configuration file can also be used in the configu
    - **`-d, --domain <ID>`** : The DDS Domain ID. By default set to `0`, or to `"$ROS_DOMAIN_ID"` is this environment variable is defined.
    - **`--dds-localhost-only`** : If set, the DDS discovery and traffic will occur only on the localhost interface (127.0.0.1).
      By default set to false, unless the "ROS_LOCALHOST_ONLY=1" environment variable is defined.
-   - **`--dds-enable-shm`** : If set, DDS will be configured to use shared memory. Only available if the `dds_shm` feature enabled when building the crate.
-     See [here](https://cyclonedds.io/docs/cyclonedds/latest/shared_memory.html) for more details of shared memory support in Cyclone DDS.
+   - **`--dds-enable-shm`** : If set, DDS will be configured to use shared memory.
      By default set to false.
    - **`-f, --fwd-discovery`** : When set, rather than creating a local route when discovering a local DDS entity, this discovery info is forwarded to the remote plugins/bridges. Those will create the routes, including a replica of the discovered entity. More details [here](#full-support-of-ros-graph-and-topic-lists-via-the-forward-discovery-mode)
    - **`-s, --scope <String>`** : A string used as prefix to scope DDS traffic when mapped to zenoh keys.