🎉 rmw_zenoh binaries for Rolling, Jazzy and Humble

General
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22

I see the UDP transport cargo feature is disabled.

Right, for the time being you have to enable it and build rmw_zenoh by yourself.

In addition, I don’t see the Z_RELIABILITY_BEST_EFFORT flag used anywhere

By Zenoh publisher and subscribers are best-effort. Hence, only Z_RELIABILITY_RELIABLE is used to overwrite the default flag when required.

In my application, I would like to make best_effort topics use UDP, and reliable topic use TCP. This seems possible in “vanilla” zenoh if I believe this piece of documentation.

Yes, in addition to enabling the UDP transport feature, you have to configure your Nodes (ZENOH_SESSION_CONFIG_URI) to listen on both UDP and TCP:

listen: {
    endpoints: [ "udp/localhost:0", "tcp/localhost:0" ],
}

If you also want UDP+TCP outside the robot, apply a similar config change to the Router:

listen: {
    endpoints: [ "udp/[::]:7447", "tcp/[::]:7447" ],
}

and configure both UDP and TCP for routers interconnectivity via connect.endpoint config.

Is it planned to enable the UDP transport and enable best effort topics?

I don’t think it is, but feel free to open a PR to trigger the discussion!

23

Did you mean “By default, Zenoh publisher and subscribers are best-effort”?

I don’t see that in the code:

I fixed that, compile the code myself, and manage to have reliable topics use TCP and unreliable topics use UDP. It only works when there is a router, not in peer only mesh network but that’s ok. I’m still figuring out how to assign priorities to some topics.

24

My bad… you’re right, by default a Zenoh Publisher is set as reliable.
I missed this change that was made in eclipse-zenoh/zenoh#1305 !

Thank you for your PR ! It indeed fixes the usage of BEST_EFFORT.

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25

Has anyone managed to get these binaries working with shared_memory?

26

If someone did, i’d be very surprised since we have not merged in support for shared memory yet :slight_smile:

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