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Merged
JEnoch merged 1 commit into from
Aug 12, 2025
Merged

Bump Zenoh to v1.5.0 (backport #728) #737

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16 changes: 15 additions & 1 deletion rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
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Original file line number Diff line number Diff line change
Expand Up @@ -185,7 +185,7 @@
autoconnect: { router: [], peer: ["router", "peer"] },
/// Strategy for autoconnection, mainly to avoid nodes connecting to each other redundantly.
/// Possible options are:
/// - "always": always attempt to autoconnect, may result in redundant connection which will then be closed.
/// - "always": always attempt to autoconnect, may result in redundant connections.
/// - "greater-zid": attempt to connect to another node only if its own zid is greater than the other's.
/// If both nodes use this strategy, only one will attempt the connection.
/// This strategy may not be suited if one of the nodes is not reachable by the other one, for example
Expand Down Expand Up @@ -315,6 +315,15 @@
// /// Optional list of data flows messages will be processed on ("egress" and/or "ingress").
// /// If absent, the rules will be applied to both flows.
// flows: ["egress", "ingress"],
// /// QoS filter to apply to the messages matching this item.
// qos: {
// congestion_control: "drop",
// priority: "data",
// express: true,
// reliability: "reliable",
// },
// /// payload_size range for the messages matching this item.
// payload_size: "1000000..",
// key_exprs: ["test/demo"],
// overwrite: {
// /// Optional new priority value, if not specified priority of the messages will stay unchanged.
Expand Down Expand Up @@ -464,6 +473,11 @@
// /// link protocols can also be used to identify transports to filter messages on.
// /// If absent, the rules will be applied to all transports. An empty list is invalid.
// link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"],
// /// ZIDs can also be used to identify transports to filter messages on.
// /// NOTE: ZID is not backed by an authentication mechanism, it can only be trusted for ACL if it is
// /// dynamically added/removed by eventual dedicated Zenoh mechanisms when transports are opened/closed.
// /// If managed manually in ACL config, can be useful for prototyping but should not be used in production!
// zids: ["38a4829bce9166ee"],
// },
// ],
// /// The policies list associates rules to subjects
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14 changes: 14 additions & 0 deletions rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
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Expand Up @@ -323,6 +323,15 @@
// /// Optional list of data flows messages will be processed on ("egress" and/or "ingress").
// /// If absent, the rules will be applied to both flows.
// flows: ["egress", "ingress"],
// /// QoS filter to apply to the messages matching this item.
// qos: {
// congestion_control: "drop",
// priority: "data",
// express: true,
// reliability: "reliable",
// },
// /// payload_size range for the messages matching this item.
// payload_size: "1000000..",
// key_exprs: ["test/demo"],
// overwrite: {
// /// Optional new priority value, if not specified priority of the messages will stay unchanged.
Expand Down Expand Up @@ -472,6 +481,11 @@
// /// link protocols can also be used to identify transports to filter messages on.
// /// If absent, the rules will be applied to all transports. An empty list is invalid.
// link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"],
// /// ZIDs can also be used to identify transports to filter messages on.
// /// NOTE: ZID is not backed by an authentication mechanism, it can only be trusted for ACL if it is
// /// dynamically added/removed by eventual dedicated Zenoh mechanisms when transports are opened/closed.
// /// If managed manually in ACL config, can be useful for prototyping but should not be used in production!
// zids: ["38a4829bce9166ee"],
// },
// ],
// /// The policies list associates rules to subjects
Expand Down
35 changes: 21 additions & 14 deletions zenoh_cpp_vendor/CMakeLists.txt
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Expand Up @@ -17,21 +17,28 @@ find_package(ament_cmake_vendor_package REQUIRED)
# latter is a list separater in cmake and hence the string will be split into two when expanded.
set(ZENOHC_CARGO_FLAGS "--features=shared-memory zenoh/transport_serial")

# Set VCS_VERSION to 1.4.0 commits of zenoh/zenoh-c/zenoh-cpp to benefit from:
# - Add a "bind" config option for endpoints:
# - https://github.com/eclipse-zenoh/zenoh/pull/1892
# - Add a "low_pass_filter" config:
# - https://github.com/eclipse-zenoh/zenoh/pull/1868
# - https://github.com/eclipse-zenoh/zenoh/pull/1895
# - Add "zids" config parameter to "qos_overwrite":
# - https://github.com/eclipse-zenoh/zenoh/pull/1908
# - Add support for link weights:
# - https://github.com/eclipse-zenoh/zenoh/pull/1914
# - Add support for DiffServ's DSCP config for endpoints:
# - https://github.com/eclipse-zenoh/zenoh/pull/1937
# Set VCS_VERSION to 1.5.0 commits of zenoh/zenoh-c/zenoh-cpp to benefit from:
# - Add CongestionControl::BlockFirst QoS
# - https://github.com/eclipse-zenoh/zenoh/pull/2014
# - Add more options for messages selection to 'qos/network' config:
# - https://github.com/eclipse-zenoh/zenoh/pull/2030
# - Add ZID subject property to access_control config:
# - https://github.com/eclipse-zenoh/zenoh/pull/2015
# - Fix access control over UDP listen endpoints
# - https://github.com/eclipse-zenoh/zenoh/pull/1980
# - Performance improvements:
# - https://github.com/eclipse-zenoh/zenoh/pull/1988
# - https://github.com/eclipse-zenoh/zenoh/pull/2025
# - https://github.com/eclipse-zenoh/zenoh/pull/2035
# - https://github.com/eclipse-zenoh/zenoh/pull/2046
# - https://github.com/eclipse-zenoh/zenoh/pull/2047
# - https://github.com/eclipse-zenoh/zenoh/pull/2053
# - https://github.com/eclipse-zenoh/zenoh/pull/2062
# - Fix build failure on Windows:
# - https://github.com/eclipse-zenoh/zenoh-c/pull/1079
ament_vendor(zenoh_c_vendor
VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
VCS_VERSION 6bea1f1ebc29412548f36af91cf2225c8bf476d4
VCS_VERSION 71af32739394bc3200aa1bea32206dc28216e04e
CMAKE_ARGS
"-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
"-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
Expand All @@ -43,7 +50,7 @@ ament_export_dependencies(zenohc)

ament_vendor(zenoh_cpp_vendor
VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
VCS_VERSION 7379592436398079934f4296d2fa90217f8eddf9
VCS_VERSION d0eae207c6cfee8df9fb8622812a297ef9bfd18e
CMAKE_ARGS
-DZENOHCXX_ZENOHC=OFF
)
Expand Down