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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-ros2dds` plugin and the `zenoh-bridge-ros2dds` standalone executable.
//// The "ros2" JSON5 object below can be used as such in the "plugins" part of a config file for the zenoh router (zenohd).
////
{
plugins: {
////
//// ROS2 related configuration
//// All settings are optional and are unset by default - uncomment the ones you want to set
////
ros2dds: {
////
//// id: An identifier for this bridge, which must be unique in the system.
/// The bridge will use this identifier in it's administration space: `@ros2/<id>/**`.
/// This identifier will also appears in the logs of all other bridges on discovery events.
/// By default a random UUID
////
// id: "robot-1",
////
//// nodename: A ROS node name to be used by this bridge.
//// Default: "zenoh_bridge_ros2dds"
////
// nodename: "zenoh_bridge_ros2dds",
////
//// namespace: A ROS namespace which:
//// - is used for the "zenoh_bridge_ros2dds" node itself
//// - is added to all discovered interfaces when routed to Zenoh
//// (i.e. a "cmd_vel" topic in the robot will be seen as "namespace/cmd_vel" outside the robot)
//// Note that this also applies to topics with absolute path such as "/rosout", "/tf" and "/tf_static".
//// Default: "/"
////
// namespace: "/",
////
//// domain: The DDS Domain ID. By default set to 0, or to "$ROS_DOMAIN_ID" is this environment variable is defined.
////
// domain: 0,
////
//// ros_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.
////
// ros_localhost_only: true,
////
//// shm_enabled: If set to true, the DDS implementation will use Iceoryx shared memory.
//// 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 / deny: Specify the lists of ROS 2 interfaces that are allowed or denied to be routed over Zenoh.
//// Each element of the lists is a regular expression that must match the full interface name.
//// You cannot set both 'allow' and 'deny' in the same configuration.
//// If neither 'allow' nor 'deny' are set, all interfaces are allowed.
//// Use 'allow' to allow only the specified interfaces. If an interface type is set to an empty list
//// or is not specified at all, it means that NO such interface is allowed.
//// Use 'deny' to allow all except the specified interfaces. If an interface type is set to an empty list
//// or is not specified at all, it means that ALL such interface are allowed.
// allow: {
// publishers: [".*/laser_scan", "/tf", ".*/pose"],
// subscribers: [".*/cmd_vel"],
// service_servers: [".*/.*_parameters"],
// service_clients: [],
// action_servers: [".*/rotate_absolute"],
// action_clients: [],
// },
// deny: {
// publishers: ["/rosout", "/parameter_events"],
// subscribers: ["/rosout"],
// service_servers: [".*/set_parameters"],
// service_clients: [".*/set_parameters"],
// action_servers: [],
// action_clients: [],
// },
////
//// pub_max_frequencies: Specify a list of maximum frequency of publications routing over zenoh for a set of Publishers.
//// The strings must have the format "<regex>=<float>":
//// - "regex" is a regular expression matching a Publisher interface name
//// - "float" is the maximum frequency in Hertz;
//// if publication rate is higher, downsampling will occur when routing.
// pub_max_frequencies: [".*/laser_scan=5", "/tf=10"],
////
//// pub_priorities: Specify a list of priorities of publications routing over zenoh for a set of Publishers.
//// In case of high traffic, the publications with higher priorities will overtake
//// the publications with lower priorities in Zenoh publication queues.
//// The strings must have the format "<regex>=<integer>":
//// - "regex" is a regular expression matching a Publisher interface name
//// - "integer" is a priority value in the range [1-7]. Highest priority is 1, lowest is 7 and default is 5.
//// (see Zenoh Priority definition here: https://docs.rs/zenoh/latest/zenoh/publication/enum.Priority.html)
////
// pub_priorities: ["/pose=2", "/rosout=7"],
////
//// 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: Timeouts configuration for various Zenoh queries.
//// Each field is optional. If not set, the 'default' timeout (5.0 seconds by default) applies to all queries.
//// Each value can be either a float in seconds that will apply as a timeout to all queries,
//// either a list of strings with format "<regex>=<float>" where:
//// - "regex" is a regular expression matching an interface name
//// - "float" is the timeout in seconds
// queries_timeout: {
// //// default timeout that will apply to all query, except the ones specified below
// //// in 'transient_local_subscribers', 'services' and 'actions'
// default: 5.0,
// //// timeouts for TRANSIENT_LOCAL subscriber when querying publishers for historical publications
// transient_local_subscribers: 1.0,
// //// timeouts for Service clients calling a Service server
// services: ["add_two_ints=0.5", ".*=1.0"],
// //// timeouts for Action clients calling an Action server (send_goal, cancel_goal and get_result services)
// actions: {
// send_goal: 1.0,
// cancel_goal: 1.0,
// get_result: [".*long_mission=3600", ".*short_action=10.0"],
// }
// }
},
////
//// 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.
//// Only the most relevant sections are displayed here.
//// For a complete view of configuration possibilities, see https://github.com/eclipse-zenoh/zenoh/blob/main/DEFAULT_CONFIG.json5
////
////
//// mode: The bridge's mode (router, peer or client)
////
//mode: "router",
////
//// Which endpoints to connect to. E.g. tcp/localhost:7447.
//// By configuring the endpoints, it is possible to tell zenoh which remote router or other zenoh-bridge-ros2dds to connect to at startup.
////
connect: {
endpoints: [
// "<proto>/<ip>:<port>"
]
},
////
//// Which endpoints to listen on.
//// 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.
//// In 'router' mode (default) the zenoh-bridge-ros2dds is listening by default on `tcp/0.0.0.0:7447` (`0.0.0.0` meaning all the available network interfaces)
////
listen: {
endpoints: [
// "<proto>/<ip>:<port>"
]
},
////
//// Configure the scouting mechanisms and their behaviours
////
//scouting: {
// /// The UDP multicast scouting configuration.
// multicast: {
// /// Whether multicast scouting is enabled or not
// enabled: true,
// /// The socket which should be used for multicast scouting
// address: "224.0.0.224:7446",
// /// The network interface which should be used for multicast scouting
// interface: "auto", // If not set or set to "auto" the interface if picked automatically
// /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
// /// Accepts a single value or different values for router, peer and client.
// /// Each value is bit-or-like combinations of "peer", "router" and "client".
// autoconnect: { router: "", peer: "router|peer" },
// /// Whether or not to listen for scout messages on UDP multicast and reply to them.
// listen: true,
// },
// /// The gossip scouting configuration.
// gossip: {
// /// Whether gossip scouting is enabled or not
// enabled: true,
// /// When true, gossip scouting informations are propagated multiple hops to all nodes in the local network.
// /// When false, gossip scouting informations are only propagated to the next hop.
// /// Activating multihop gossip implies more scouting traffic and a lower scalability.
// /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
// /// direct connectivity with each other.
// multihop: false,
// /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
// /// Accepts a single value or different values for router, peer and client.
// /// Each value is bit-or-like combinations of "peer", "router" and "client".
// autoconnect: { router: "", peer: "router|peer" },
// },
//},
}