Enable Zenoh UDP transport (#486)

(cherry picked from commit 299ddc7)
ros2 · Feb 28, 2025 · edb39c0 · edb39c0
1 parent ecf21d4
commit edb39c0
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
@@ -126,6 +126,8 @@ std::shared_ptr<PublisherData> PublisherData::make(
     if (adapted_qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
       pub_opts.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
     }
+  } else {
+    pub_opts.reliability = Z_RELIABILITY_BEST_EFFORT;
   }
   adv_pub_opts.publisher_options = pub_opts;
 

diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
@@ -15,7 +15,7 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # Note: We separate the two args needed for cargo with "$<SEMICOLON>" and not ";" as the
 # latter is a list separater in cmake and hence the string will be split into two
 # when expanded.
-set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
+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