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Add router node.

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jimmy committed 2026-07-23 13:15:00 -04:00
1 parent 21f8c2b7c4
commit 9c30904008
6 files changed
+120 -4
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launch/test.launch.xml
+5 -2
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@@ -1,10 +1,13 @@
<launch>
<node name="in_node" pkg="j7s_zenoh_bridge" exec="zenoh_bridge">
<param name="zenoh_config_path" value="$(find-pkg-share j7s_zenoh_bridge)/params/DEFAULT_CONFIG.json5"/>
<param name="zenoh_config_path" value="$(find-pkg-share j7s_zenoh_bridge)/params/client_config.json5"/>
<param from="$(find-pkg-share j7s_zenoh_bridge)/params/in.yaml"/>
</node>
<node name="out_node" pkg="j7s_zenoh_bridge" exec="zenoh_bridge">
<param name="zenoh_config_path" value="$(find-pkg-share j7s_zenoh_bridge)/params/DEFAULT_CONFIG.json5"/>
<param name="zenoh_config_path" value="$(find-pkg-share j7s_zenoh_bridge)/params/client_config.json5"/>
<param from="$(find-pkg-share j7s_zenoh_bridge)/params/out.yaml"/>
</node>
<node name="router" pkg="j7s_zenoh_bridge" exec="zenoh_router">
<param name="zenoh_config_path" value="$(find-pkg-share j7s_zenoh_bridge)/params/router_config.json5"/>
</node>
</launch>