From 888d90c6aa0739c98d32b86561164a9fff1d38ed Mon Sep 17 00:00:00 2001 From: Leann Hsu Date: Tue, 19 Nov 2024 18:20:15 +0800 Subject: [PATCH] Bump Zenoh to 1.0.2 (#139) * Bump Zenoh to 1.0.2 * Resotre batching config * Add description for batching config --- config/zenoh-bridge-ros2dds-conf.json5 | 12 ++++++++---- config/zenoh-carla-bridge-conf.json5 | 9 +++++++-- container/Dockerfile_autoware | 2 +- external/zenoh-plugin-ros2dds | 2 +- external/zenoh_carla_bridge | 2 +- 5 files changed, 18 insertions(+), 9 deletions(-) diff --git a/config/zenoh-bridge-ros2dds-conf.json5 b/config/zenoh-bridge-ros2dds-conf.json5 index 99f97c0..1d1c731 100644 --- 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 index f0b8b33..02b3533 100644 --- 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 index 26b73ed..de7b406 100644 --- 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 index f6c8c80..738e6d7 160000 --- a/external/zenoh-plugin-ros2dds +++ b/external/zenoh-plugin-ros2dds @@ -1 +1 @@ -Subproject commit f6c8c804497dddce079191e799779717c7177333 +Subproject commit 738e6d753c1916a35700dc30d88deeff76914471 diff --git a/external/zenoh_carla_bridge b/external/zenoh_carla_bridge index 3a913fd..6acec5c 160000 --- a/external/zenoh_carla_bridge +++ b/external/zenoh_carla_bridge @@ -1 +1 @@ -Subproject commit 3a913fd675653cce410f5412de4004dea0c2a70e +Subproject commit 6acec5cd2f0c3f62c51d8ac4c1e771db24176592