Handle duplicate node names by including zenoh session id in liveliness tokens #87
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Signed-off-by: Yadunund <yadunund@openrobotics.org>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
clalancette
requested changes
Jan 2, 2024
| @@ -83,6 +83,18 @@ static const std::unordered_map<std::string, EntityType> str_to_entity = { | |||
| {CLI_STR, EntityType::Client} | |||
| }; | |||
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| std::string convert(z_id_t id) | |||
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| std::string convert(z_id_t id) | |
| std::string zid_to_str(z_id_t id) |
Co-authored-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Yadu <yadunund@gmail.com>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
clalancette
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Jan 2, 2024
Yadunund
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Jan 12, 2024
…ss tokens (#87) * Include zenoh session id in liveliness tokens * Switch to multimap for NodeMap Signed-off-by: Yadunund <yadunund@openrobotics.org> Co-authored-by: Chris Lalancette <clalancette@gmail.com>
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This PR addresses #84.
It so does so by including the zenoh session id in the liveliness token.
The token is updated to:
<ADMIN_SPACE>/<domainid>/<id>/<entity>/<namespace>/<nodename>where<id>is meant to be a unique ID to identify this entity. However, until the zenoh API exposes the globally unique IDs for each participant/entity, this id is currently set to the zenoh session's id with elements concatenated into a string using '.' as separator.The
NodeMapdata structure is updated to anstd::multimapto allow storing multiple nodes with the same name in the same namespace. Codebase is updated accoridngly.Now after running two instances of
/talker, running the commandros2 node listshould correctly list two separate/talkernodes.Note: Make sure to kill all ros2 nodes and daemons before trying this.