{
  /// 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,
      multihop: 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,
    },
  },
}