Move from other project.

config/ROUTER_CONFIG.json5

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+{
+  /// The node's mode (router, peer or client)
+  mode: "router",
+
+  /// Which endpoints to connect to. E.g. tcp/localhost:7447.
+  /// This should list all the routers for this robot.
+  connect: {
+    endpoints: [
+    ],
+  },
+
+  /// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447.
+  listen: {
+    endpoints: [
+      "tcp/0.0.0.0:7447",
+    ],
+  },
+  /// Configure the scouting mechanisms and their behaviours
+  scouting: {
+    /// Disable multicast.
+    multicast: {
+      /// Whether multicast scouting is enabled or not
+      enabled: false,
+    },
+    /// Enable gossip scouting.
+    gossip: {
+      /// Whether gossip scouting is enabled or not
+      enabled: true,
+    },
+  },
+
+  /// Configuration of data messages timestamps management.
+  timestamping: {
+    /// ROS setting: PublicationCache which is required for transient_local durability
+    ///              only works when time-stamping is enabled.
+    enabled: true,
+  },
+
+  /// Configure internal transport parameters
+  transport: {
+    unicast: {
+      compression: {
+        enabled: true,
+      },
+    },
+    link: {
+      tx: {
+        queue: {
+          congestion_control: {
+            drop: {
+              /// The maximum time in microseconds to wait for an available batch (place in queue) before dropping
+              /// a droppable message if still no batch is available.
+              wait_before_drop: 100000,
+            },
+          },
+        },
+      },
+    },
+    /// Shared memory configuration.
+    shared_memory: {
+      enabled: false,
+    },
+  },
+}

config/SESSION_CONFIG.json5

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+{
+  /// The node's mode (router, peer or client)
+  mode: "peer",
+
+  /// Which endpoints to connect to. E.g. tcp/localhost:7447.
+  /// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
+  /// We only connect our local router at first.
+  connect: {
+    endpoints: [
+      "tcp/localhost:7447",
+    ],
+    retry: {
+       period_init_ms: 100,
+       period_max_ms: 10000
+    },
+  },
+
+  /// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447.
+  /// 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.
+  /// "tcp/[::]:0", "udp/0.0.0.0:0?rel=1;mixed_rel=1"
+  listen: {
+    endpoints: [
+      "tcp/0.0.0.0:0", "udp/0.0.0.0:0?rel=1;mixed_rel=1"
+    ],
+  },
+
+  /// Configure the scouting mechanisms and their behaviours
+  scouting: {
+    /// Disable multicast.
+    multicast: {
+      enabled: false,
+    },
+    /// Enable gossip.
+    gossip: {
+      enabled: true,
+    },
+  },
+
+  /// Configuration of data messages timestamps management.
+  timestamping: {
+    /// ROS setting: PublicationCache which is required for transient_local durability
+    ///              only works when time-stamping is enabled.
+    enabled: true,
+  },
+
+  /// Configure internal transport parameters
+  transport: {
+    unicast: {
+      compression: {
+        enabled: true,
+      },
+    },
+    link: {
+      tx: {
+        queue: {
+          congestion_control: {
+            drop: {
+              /// The maximum time in microseconds to wait for an available batch (place in queue) before dropping
+              /// a droppable message if still no batch is available.
+              wait_before_drop: 100000,
+            },
+          },
+        },
+      },
+    },
+    /// Shared memory configuration.
+    shared_memory: {
+      enabled: false,
+    },
+  },
+}

config/setup.bash

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+#!/usr/bin/env bash
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+export ZENOH_ROUTER_CHECK_ATTEMPTS=-1
+export ZENOH_ROUTER_CONFIG_URI=${SCRIPT_DIR}/ROUTER_CONFIG.json5
+export ZENOH_SESSION_CONFIG_URI=${SCRIPT_DIR}/SESSION_CONFIG.json5
+export ROS_STATIC_PEERS=""
+
+# This can be called to setup which routers to connect to.
+# I.E. On my laptop I source this config. I want to connect to
+# a robot with IP address 192.168.1.100
+# I can call `zenoh_router_ip 192.168.1.100` and then I will talk to its
+# router.
+zenoh_router_ip() {
+    local endpoints=()
+    for ip in "$@"; do
+        endpoints+=("'tcp/$ip:7447'")
+    done
+    local IFS=,
+    export ZENOH_CONFIG_OVERRIDE="connect/endpoints=[${endpoints[*]}];"
+}
+