{
  /// 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,
    },
  },
}