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DEFAULT_CONFIG.json5
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DEFAULT_CONFIG.json5
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////
//// This file presents the default configuration used by both the `zenoh-plugin-dds` plugin and the `zenoh-bridge-dds` standalone executable.
//// The "dds" JSON5 object below can be used as such in the "plugins" part of a config file for the zenoh router (zenohd).
////
{
plugins: {
////
//// DDS related configuration
//// All settings are optional and are unset by default - uncomment the ones you want to set
////
dds: {
////
//// scope: A string added as prefix to all routed DDS topics when mapped to a zenoh resource.
//// This should be used to avoid conflicts when several distinct DDS systems using
//// the same topics names are routed via zenoh.
////
// scope: "robot-1",
////
//// domain: The DDS Domain ID. By default set to 0, or to "$ROS_DOMAIN_ID" is this environment variable is defined.
////
// domain: 0,
////
//// localhost_only: If set to true, 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.
////
// localhost_only: true,
////
//// shm_enabled: If set to true, the DDS implementation will be configured to use the Iceoryx PSMX plugin.
//// Requires the bridge to be built with the 'dds_shm' feature for this option to valid.
//// By default set to false.
////
// shm_enabled: false,
////
//// allow: 1 or more regular expression matching the set of 'partition/topic-name' that must be routed via zenoh.
//// By default, all partitions and topics are allowed.
//// If both 'allow' and 'deny' are set a partition and/or topic will be allowed if it matches only the 'allow' expression.
//// Repeat this option to configure several topic expressions. These expressions are concatenated with '|'.
//// Examples (the last 2 are equivalent):
//// allow: ".*/TopicA",
//// allow: "Partition-?/.*",
//// allow: ["cmd_vel", "rosout"]
//// allow: "cmd_vel|rosout"
////
// allow: ["cmd_vel", "rosout"],
////
//// deny: 1 or more regular regular expression matching the set of 'partition/topic-name' that must NOT be routed via zenoh.
//// By default, no partitions and no topics are denied.
//// If both 'allow' and 'deny' are set a partition and/or topic will be allowed if it matches only the 'allow' expression.
//// Repeat this option to configure several topic expressions. These expressions are concatenated with '|'.
//// Examples (the last 2 are equivalent):
//// deny: ".*/TopicA",
//// deny: "Partition-?/.*",
//// deny: ["cmd_vel", "rosout"]
//// allow: "cmd_vel|rosout"
////
// deny: ["cmd_vel", "rosout"],
////
//// max_frequencies: Specifies a list of maximum frequency of data routing over zenoh for a set of topics.
//// The strings must have the format "<regex>=<float>":
//// - "regex" is a regular expression matching the set of "partition/topic-name"
//// (same syntax than --allow option) for which the data (per DDS instance) must be
//// routed at no higher rate than the specified max frequency.
//// - "float" is the maximum frequency in Hertz;
//// if publication rate is higher, downsampling will occur when routing.
// max_frequencies: ["diagnostic.*=10", "rosout=5"],
////
//// generalise_subs: A list of key expression to use for generalising subscriptions.
////
// generalise_subs: ["SUB1", "SUB2"],
////
//// generalise_pubs: A list of key expression to use for generalising publications.
////
// generalise_pubs: ["PUB1", "PUB2"],
////
//// forward_discovery: When true, 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.
////
// forward_discovery: false,
////
//// reliable_routes_blocking: When true, the publications from a RELIABLE DDS Writer will be
//// routed to zenoh using the CongestionControl::Block option.
//// Meaning the routing will be blocked in case of network congestion,
//// blocking the DDS Reader and the RELIABLE DDS Writer in return.
//// When false (or for BERST_EFFORT DDS Writers), CongestionControl::Drop
//// is used, meaning the route might drop some data in case of congestion.
////
// reliable_routes_blocking: true,
////
//// queries_timeout: A duration in seconds (default: 5.0 sec) that will be used as a timeout when the bridge
//// queries any other remote bridge for discovery information and for historical data for TRANSIENT_LOCAL DDS Readers it serves
//// (i.e. if the query to the remote bridge exceed the timeout, some historical samples might be not routed to the Readers,
//// but the route will not be blocked forever).
////
// queries_timeout: 5.0,
////
//// This plugin uses Tokio (https://tokio.rs/) for asynchronous programming.
//// When running as a plugin within a Zenoh router, the plugin creates its own Runtime managing 2 pools of threads:
//// - worker threads for non-blocking tasks. Those threads are spawn at Runtime creation.
//// - blocking threads for blocking tasks (e.g. I/O). Those threads are spawn when needed.
//// For more details see https://github.com/tokio-rs/tokio/discussions/3858#discussioncomment-869878
//// When running as a standalone bridge the Zenoh Session's Runtime is used and can be configured via the
//// `ZENOH_RUNTIME` environment variable. See https://docs.rs/zenoh-runtime/latest/zenoh_runtime/enum.ZRuntime.html
////
//// work_thread_num: The number of worker thread in the asynchronous runtime will use. (default: 2)
//// Only for a plugin, no effect on a bridge.
// work_thread_num: 2,
//// max_block_thread_num: The number of blocking thread in the asynchronous runtime will use. (default: 50)
//// Only for a plugin, no effect on a bridge.
// max_block_thread_num: 50,
},
////
//// REST API configuration (active only if this part is defined)
////
// rest: {
// ////
// //// The HTTP port number (for all network interfaces).
// //// You can bind on a specific interface setting a "<local_ip>:<port>" string.
// ////
// http_port: 8000,
// },
},
////
//// zenoh related configuration (see zenoh documentation for more details)
////
////
//// id: The identifier (as hex-string) that zenoh-bridge-dds must use. If not set, a random UUIDv4 will be used.
//// WARNING: this id must be unique in your zenoh network.
// id: "A00001",
////
//// mode: The bridge's mode (peer or client)
////
// mode: "client",
////
//// Which endpoints to connect to. E.g. tcp/localhost:7447.
//// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
////
connect: {
endpoints: [
// "<proto>/<ip>:<port>"
]
},
////
//// Which endpoints to listen on. E.g. tcp/localhost:7447.
//// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
//// peers, or client can use to establish a zenoh session.
////
listen: {
endpoints: [
// "<proto>/<ip>:<port>"
]
},
}