24 lines
784 B
Bash
Executable File
24 lines
784 B
Bash
Executable File
#!/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[*]}];"
|
|
}
|
|
|