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