Bump Zenoh to 1.0.2 (#139)

* Bump Zenoh to 1.0.2 * Resotre batching config * Add description for batching config
evshary · Nov 19, 2024 · 888d90c · 888d90c
1 parent 3ffa3a0
commit 888d90c
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Showing 5 changed files with 18 additions and 9 deletions.
diff --git a/config/zenoh-bridge-ros2dds-conf.json5 b/config/zenoh-bridge-ros2dds-conf.json5
@@ -3,8 +3,13 @@
   transport: {
     link: {
       tx: {
-        /// Perform batching of messages if they are smaller of the batch_size
-        batching: false,
+        queue:{
+          /// Perform batching of messages if they are smaller of the batch_size
+          batching: {
+            /// Default works well in most cases. If performance problems arise, remove the comment to disable batching.
+            // enabled: false,
+          }
+        }
       }
     }
   },
@@ -44,8 +49,7 @@
             "/api/external/set/command/remote/shift",
             "/external/selected/control_cmd",
             "/control/gate_mode_cmd",
-            "/sensing/camera/.*",
-            "/planning/mission_planning/goal"
+            "/sensing/camera/.*"
         ],
         service_servers: [
             // Used by FMS

diff --git a/config/zenoh-carla-bridge-conf.json5 b/config/zenoh-carla-bridge-conf.json5
@@ -3,8 +3,13 @@
   transport: {
     link: {
       tx: {
-        /// Perform batching of messages if they are smaller of the batch_size
-        batching: false,
+        queue:{
+          /// Perform batching of messages if they are smaller of the batch_size
+          batching: {
+            /// Default works well in most cases. If performance problems arise, remove the comment to disable batching.
+            // enabled: false,
+          }
+        }
       }
     }
   }

diff --git a/container/Dockerfile_autoware b/container/Dockerfile_autoware
@@ -9,7 +9,7 @@ RUN printf 'set-option -g default-shell /bin/bash\nset -g default-terminal "tmux
 RUN apt-get install -y llvm-dev libclang-dev cmake 
 # Used by Autoware & my ROS packages
 RUN python3 -m pip install gdown \
-                           eclipse-zenoh==1.0.0-alpha.6 \
+                           eclipse-zenoh==1.0.2 \
                            setuptools==58.2.0
 RUN apt-get install -y ros-humble-moveit-msgs \
                        ros-humble-object-recognition-msgs \

diff --git a/external/zenoh-plugin-ros2dds b/external/zenoh-plugin-ros2dds
diff --git a/external/zenoh_carla_bridge b/external/zenoh_carla_bridge
+11 −1		.github/release.yml
+15 −0		.github/workflows/check-labels.yml
+884 −1,008		Cargo.lock
+11 −8		Cargo.toml
+41 −14		DEFAULT_CONFIG.json5
+79 −59		README.md
+2 −1		zenoh-bridge-ros2dds/.deb/postrm
+3 −4		zenoh-bridge-ros2dds/.service/zenoh-bridge-ros2dds.service
+1 −0		zenoh-bridge-ros2dds/Cargo.toml
+1 −7		zenoh-bridge-ros2dds/src/bridge_args.rs
+4 −5		zenoh-bridge-ros2dds/src/main.rs
+13 −1		zenoh-bridge-ros2dds/src/zenoh_args.rs
+1 −1		zenoh-plugin-ros2dds/Cargo.toml
+29 −11		zenoh-plugin-ros2dds/src/config.rs
+5 −5		zenoh-plugin-ros2dds/src/discovered_entities.rs
+0 −1		zenoh-plugin-ros2dds/src/gid.rs
+41 −18		zenoh-plugin-ros2dds/src/lib.rs
+31 −22		zenoh-plugin-ros2dds/src/ros2_utils.rs
+10 −11		zenoh-plugin-ros2dds/src/route_action_cli.rs
+10 −11		zenoh-plugin-ros2dds/src/route_action_srv.rs
+38 −23		zenoh-plugin-ros2dds/src/route_publisher.rs
+14 −14		zenoh-plugin-ros2dds/src/route_service_cli.rs
+14 −14		zenoh-plugin-ros2dds/src/route_service_srv.rs
+12 −14		zenoh-plugin-ros2dds/src/route_subscriber.rs
+20 −20		zenoh-plugin-ros2dds/src/routes_mgr.rs
+648 −607		Cargo.lock
+2 −1		Cargo.toml
+2 −3		src/bridge/sensor_bridge.rs
+6 −9		src/bridge/vehicle_bridge.rs
+1 −1		src/clock.rs
+7 −5		src/main.rs