Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 (#503) (#511)

(cherry picked from commit 19b7f77)

Co-authored-by: Luca Cominardi <[email protected]>

Author: mergify[bot]

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

@@ -366,6 +366,8 @@
   //   [
   //      /// Each policy associates one or multiple rules to one or multiple subject combinations
   //      {
+  //         /// Id is optional. If provided, it has to be unique within the policies list
+  //         "id": "policy1",
   //         /// Rules and Subjects are identified with their unique IDs declared above
   //         "rules": ["rule1"],
   //         "subjects": ["subject1", "subject2"],

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -374,6 +374,8 @@
   //   [
   //      /// Each policy associates one or multiple rules to one or multiple subject combinations
   //      {
+  //         /// Id is optional. If provided, it has to be unique within the policies list
+  //         "id": "policy1",
   //         /// Rules and Subjects are identified with their unique IDs declared above
   //         "rules": ["rule1"],
   //         "subjects": ["subject1", "subject2"],

zenoh_cpp_vendor/CMakeLists.txt

@@ -17,16 +17,25 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_udp zenoh/transport_tls")
 
-# Set VCS_VERSION to include latest changes from zenoh/zenoh-c/zenoh-cpp to benefit from :
-# - https://github.com/eclipse-zenoh/zenoh/pull/1742, https://github.com/eclipse-zenoh/zenoh/pull/1765
-#    (Add autoconnect_strategy config allowing to optimize peers interconnections)
-# - https://github.com/eclipse-zenoh/zenoh/pull/1753
-#    (Improve AdvancedSub for faster delivery of first receveived data)
-# - https://github.com/eclipse-zenoh/zenoh-cpp/pull/407, https://github.com/eclipse-zenoh/zenoh-c/pull/913
-#    (Fix potential loss of request/reply messages in case of network congestion)
+# Set VCS_VERSION to include latest changes from zenoh/zenoh-c/zenoh-cpp to benefit from:
+# - Reword SHM warning log about "setting scheduling priority":
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1778  
+# - Performances improvements at launch time:
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1786
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1789
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1793
+# - Fixed open timeout
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1796
+# - Improve ACL behaviour, notably for S-ROS
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1781
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1785
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1795
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1806
+# - Reduce the number of threads in case of scouting
+#  - https://github.com/eclipse-zenoh/zenoh-c/pull/937
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION 261493682c7dc54db3a07079315e009a2e7c1573
+  VCS_VERSION 3540a3ce8126e071236352446bc1564787d3fb04
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
     "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
@@ -37,7 +46,7 @@ ament_export_dependencies(zenohc)
 
 ament_vendor(zenoh_cpp_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
-  VCS_VERSION 5dfb68c9ac966925e59bcb52f39b9bc26c0ad6d3
+  VCS_VERSION 2a127bb0f537e0028359caf1084c879330341592
   CMAKE_ARGS
     -DZENOHCXX_ZENOHC=OFF
 )