64 lines
1.5 KiB
Plaintext
64 lines
1.5 KiB
Plaintext
{
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/// The node's mode (router, peer or client)
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mode: "router",
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/// Which endpoints to connect to. E.g. tcp/localhost:7447.
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/// This should list all the routers for this robot.
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connect: {
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endpoints: [
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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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listen: {
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endpoints: [
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"tcp/0.0.0.0:7447",
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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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/// Whether multicast scouting is enabled or not
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enabled: false,
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},
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/// Enable gossip scouting.
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gossip: {
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/// Whether gossip scouting is enabled or not
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enabled: 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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} |