Merge branch 'rolling' into ahcorde/rolling/windows_warning

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

@@ -205,7 +205,10 @@
   },
 
   /// The default timeout to apply to queries in milliseconds.
-  queries_default_timeout: 10000,
+  /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together.
+  ///              Note: the requests to services and actions are hard-coded with an infinite timeout. Hence, this setting
+  ///              only applies to the queries made by the Advanced Subscriber for TRANSIENT_LOCAL implementation.
+  queries_default_timeout: 60000,
 
   /// The routing strategy to use and it's configuration.
   routing: {
@@ -366,6 +369,8 @@
   //   [
   //      /// Each policy associates one or multiple rules to one or multiple subject combinations
   //      {
+  //         /// Id is optional. If provided, it has to be unique within the policies list
+  //         "id": "policy1",
   //         /// Rules and Subjects are identified with their unique IDs declared above
   //         "rules": ["rule1"],
   //         "subjects": ["subject1", "subject2"],
@@ -381,13 +386,17 @@
   transport: {
     unicast: {
       /// Timeout in milliseconds when opening a link
-      open_timeout: 10000,
+      /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together
+      open_timeout: 60000,
       /// Timeout in milliseconds when accepting a link
-      accept_timeout: 10000,
+      /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together
+      accept_timeout: 60000,
       /// Maximum number of links in pending state while performing the handshake for accepting it
-      accept_pending: 100,
+      /// ROS setting: increase the value to support a large number of Nodes starting all together
+      accept_pending: 10000,
       /// Maximum number of transports that can be simultaneously alive for a single zenoh sessions
-      max_sessions: 1000,
+      /// ROS setting: increase the value to support a large number of Nodes starting all together
+      max_sessions: 10000,
       /// Maximum number of incoming links that are admitted per transport
       max_links: 1,
       /// Enables the LowLatency transport
@@ -446,7 +455,8 @@
         /// Accepted values: 8bit, 16bit, 32bit, 64bit.
         sequence_number_resolution: "32bit",
         /// Link lease duration in milliseconds to announce to other zenoh nodes
-        lease: 10000,
+        /// ROS setting: increase the value to avoid lease expiration at launch time with a large number of Nodes starting all together
+        lease: 60000,
         /// Number of keep-alive messages in a link lease duration. If no data is sent, keep alive
         /// messages will be sent at the configured time interval.
         /// NOTE: In order to consider eventual packet loss and transmission latency and jitter,
@@ -456,7 +466,9 @@
         ///       This is in-line with the ITU-T G.8013/Y.1731 specification on continuous connectivity
         ///       check which considers a link as failed when no messages are received in 3.5 times the
         ///       target interval.
-        keep_alive: 4,
+        /// ROS setting: decrease the value since Nodes are communicating over the loopback
+        ///              where keep-alive messages have less chances to be lost.
+        keep_alive: 2,
         /// Batch size in bytes is expressed as a 16bit unsigned integer.
         /// Therefore, the maximum batch size is 2^16-1 (i.e. 65535).
         /// The default batch size value is the maximum batch size: 65535.
@@ -492,6 +504,9 @@
             block: {
               /// The maximum time in microseconds to wait for an available batch before closing the transport session when sending a blocking message
               /// if still no batch is available.
+              /// ROS setting: unlike DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5, no change here:
+              ///              as the router is routing messages to outside the robot, possibly over WiFi,
+              ///              keeping a lower value ensure the router is not blocked for too long in case of congestioned WiFi.
               wait_before_close: 5000000,
             },
           },

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -215,7 +215,10 @@
   },
 
   /// The default timeout to apply to queries in milliseconds.
-  queries_default_timeout: 10000,
+  /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together.
+  ///              Note: the requests to services and actions are hard-coded with an infinite timeout. Hence, this setting
+  ///              only applies to the queries made by the Advanced Subscriber for TRANSIENT_LOCAL implementation.
+  queries_default_timeout: 60000,
 
   /// The routing strategy to use and it's configuration.
   routing: {
@@ -374,6 +377,8 @@
   //   [
   //      /// Each policy associates one or multiple rules to one or multiple subject combinations
   //      {
+  //         /// Id is optional. If provided, it has to be unique within the policies list
+  //         "id": "policy1",
   //         /// Rules and Subjects are identified with their unique IDs declared above
   //         "rules": ["rule1"],
   //         "subjects": ["subject1", "subject2"],
@@ -389,13 +394,17 @@
   transport: {
     unicast: {
       /// Timeout in milliseconds when opening a link
-      open_timeout: 10000,
+      /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together
+      open_timeout: 60000,
       /// Timeout in milliseconds when accepting a link
-      accept_timeout: 10000,
+      /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together
+      accept_timeout: 60000,
       /// Maximum number of links in pending state while performing the handshake for accepting it
-      accept_pending: 100,
+      /// ROS setting: increase the value to support a large number of Nodes starting all together
+      accept_pending: 10000,
       /// Maximum number of transports that can be simultaneously alive for a single zenoh sessions
-      max_sessions: 1000,
+      /// ROS setting: increase the value to support a large number of Nodes starting all together
+      max_sessions: 10000,
       /// Maximum number of incoming links that are admitted per transport
       max_links: 1,
       /// Enables the LowLatency transport
@@ -454,7 +463,8 @@
         /// Accepted values: 8bit, 16bit, 32bit, 64bit.
         sequence_number_resolution: "32bit",
         /// Link lease duration in milliseconds to announce to other zenoh nodes
-        lease: 10000,
+        /// ROS setting: increase the value to avoid lease expiration at launch time with a large number of Nodes starting all together
+        lease: 60000,
         /// Number of keep-alive messages in a link lease duration. If no data is sent, keep alive
         /// messages will be sent at the configured time interval.
         /// NOTE: In order to consider eventual packet loss and transmission latency and jitter,
@@ -464,7 +474,9 @@
         ///       This is in-line with the ITU-T G.8013/Y.1731 specification on continuous connectivity
         ///       check which considers a link as failed when no messages are received in 3.5 times the
         ///       target interval.
-        keep_alive: 4,
+        /// ROS setting: decrease the value since Nodes are communicating over the loopback
+        ///              where keep-alive messages have less chances to be lost.
+        keep_alive: 2,
         /// Batch size in bytes is expressed as a 16bit unsigned integer.
         /// Therefore, the maximum batch size is 2^16-1 (i.e. 65535).
         /// The default batch size value is the maximum batch size: 65535.
@@ -500,7 +512,9 @@
             block: {
               /// The maximum time in microseconds to wait for an available batch before closing the transport session when sending a blocking message
               /// if still no batch is available.
-              wait_before_close: 5000000,
+              /// ROS setting: increase the value to avoid unecessary link closure at launch time where congestion is likely
+              ///              to occur even over the loopback since all the Nodes are starting at the same time.
+              wait_before_close: 60000000,
             },
           },
           /// Perform batching of messages if they are smaller of the batch_size

rmw_zenoh_cpp/src/detail/rmw_node_data.cpp

@@ -190,7 +190,8 @@ bool NodeData::create_sub_data(
   std::size_t id,
   const std::string & topic_name,
   const rosidl_message_type_support_t * type_support,
-  const rmw_qos_profile_t * qos_profile)
+  const rmw_qos_profile_t * qos_profile,
+  const rmw_subscription_options_t & sub_options)
 {
   std::lock_guard<std::recursive_mutex> lock_guard(mutex_);
   if (is_shutdown_) {
@@ -216,7 +217,8 @@ bool NodeData::create_sub_data(
     std::move(id),
     std::move(topic_name),
     type_support,
-    qos_profile);
+    qos_profile,
+    sub_options);
   if (sub_data == nullptr) {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",

rmw_zenoh_cpp/src/detail/rmw_node_data.hpp

@@ -75,7 +75,8 @@ class NodeData final
     std::size_t id,
     const std::string & topic_name,
     const rosidl_message_type_support_t * type_support,
-    const rmw_qos_profile_t * qos_profile);
+    const rmw_qos_profile_t * qos_profile,
+    const rmw_subscription_options_t & sub_options);
 
   // Retrieve the SubscriptionData for a given rmw_subscription_t if present.
   SubscriptionDataPtr get_sub_data(const rmw_subscription_t * const subscription);

rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp

@@ -60,7 +60,8 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
   std::size_t subscription_id,
   const std::string & topic_name,
   const rosidl_message_type_support_t * type_support,
-  const rmw_qos_profile_t * qos_profile)
+  const rmw_qos_profile_t * qos_profile,
+  const rmw_subscription_options_t & sub_options)
 {
   rmw_qos_profile_t adapted_qos_profile = *qos_profile;
   rmw_ret_t ret = QoS::get().best_available_qos(
@@ -121,7 +122,8 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
       std::move(entity),
       std::move(session),
       type_support->data,
-      std::move(message_type_support)
+      std::move(message_type_support),
+      sub_options
     });
 
   if (!sub_data->init()) {
@@ -139,13 +141,15 @@ SubscriptionData::SubscriptionData(
   std::shared_ptr<liveliness::Entity> entity,
   std::shared_ptr<zenoh::Session> session,
   const void * type_support_impl,
-  std::unique_ptr<MessageTypeSupport> type_support)
+  std::unique_ptr<MessageTypeSupport> type_support,
+  rmw_subscription_options_t sub_options)
 : rmw_node_(rmw_node),
   graph_cache_(std::move(graph_cache)),
   entity_(std::move(entity)),
   sess_(std::move(session)),
   type_support_impl_(type_support_impl),
   type_support_(std::move(type_support)),
+  sub_options_(std::move(sub_options)),
   last_known_published_msg_({}),
   wait_set_data_(nullptr),
   is_shutdown_(false),
@@ -154,6 +158,7 @@ SubscriptionData::SubscriptionData(
   events_mgr_ = std::make_shared<EventsManager>();
 }
 
+///=============================================================================
 // We have to use an "init" function here, rather than do this in the constructor, because we use
 // enable_shared_from_this, which is not available in constructors.
 bool SubscriptionData::init()
@@ -172,6 +177,14 @@ bool SubscriptionData::init()
   using AdvancedSubscriberOptions = zenoh::ext::SessionExt::AdvancedSubscriberOptions;
   auto adv_sub_opts = AdvancedSubscriberOptions::create_default();
 
+  // By default, this subscription will receive publications from publishers within and outside of
+  // the same Zenoh session as this subscription.
+  // If ignore_local_publications is true, we restrict this subscription to only receive samples
+  // from publishers in remote sessions.
+  if (sub_options_.ignore_local_publications) {
+    adv_sub_opts.subscriber_options.allowed_origin = ZC_LOCALITY_REMOTE;
+  }
+
   // Instantiate the subscription with suitable options depending on the
   // adapted_qos_profile.
   if (entity_->topic_info()->qos_.durability == RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL) {

rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp

@@ -71,7 +71,8 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
     std::size_t Subscription_id,
     const std::string & topic_name,
     const rosidl_message_type_support_t * type_support,
-    const rmw_qos_profile_t * qos_profile);
+    const rmw_qos_profile_t * qos_profile,
+    const rmw_subscription_options_t & sub_options);
 
   // Get a copy of the keyexpr_hash of this SubscriptionData's liveliness::Entity.
   std::size_t keyexpr_hash() const;
@@ -124,7 +125,8 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
     std::shared_ptr<liveliness::Entity> entity,
     std::shared_ptr<zenoh::Session> session,
     const void * type_support_impl,
-    std::unique_ptr<MessageTypeSupport> type_support);
+    std::unique_ptr<MessageTypeSupport> type_support,
+    rmw_subscription_options_t sub_options);
 
   bool init();
 
@@ -145,6 +147,8 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
   // Type support fields
   const void * type_support_impl_;
   std::unique_ptr<MessageTypeSupport> type_support_;
+  // Subscription options.
+  rmw_subscription_options_t sub_options_;
   std::deque<std::unique_ptr<Message>> message_queue_;
   // Map GID of a subscription to the sequence number of the message it published.
   std::unordered_map<size_t, int64_t> last_known_published_msg_;

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -985,7 +985,8 @@ rmw_create_subscription(
       context_impl->get_next_entity_id(),
       topic_name,
       type_support,
-      qos_profile))
+      qos_profile,
+      *subscription_options))
   {
     // Error already handled.
     return nullptr;

zenoh_cpp_vendor/CMakeLists.txt

@@ -17,16 +17,25 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_udp zenoh/transport_tls")
 
-# Set VCS_VERSION to include latest changes from zenoh/zenoh-c/zenoh-cpp to benefit from :
-# - https://github.com/eclipse-zenoh/zenoh/pull/1742, https://github.com/eclipse-zenoh/zenoh/pull/1765
-#    (Add autoconnect_strategy config allowing to optimize peers interconnections)
-# - https://github.com/eclipse-zenoh/zenoh/pull/1753
-#    (Improve AdvancedSub for faster delivery of first receveived data)
-# - https://github.com/eclipse-zenoh/zenoh-cpp/pull/407, https://github.com/eclipse-zenoh/zenoh-c/pull/913
-#    (Fix potential loss of request/reply messages in case of network congestion)
+# Set VCS_VERSION to include latest changes from zenoh/zenoh-c/zenoh-cpp to benefit from:
+# - Reword SHM warning log about "setting scheduling priority":
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1778  
+# - Performances improvements at launch time:
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1786
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1789
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1793
+# - Fixed open timeout
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1796
+# - Improve ACL behaviour, notably for S-ROS
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1781
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1785
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1795
+#   - https://github.com/eclipse-zenoh/zenoh/pull/1806
+# - Reduce the number of threads in case of scouting
+#  - https://github.com/eclipse-zenoh/zenoh-c/pull/937
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION 261493682c7dc54db3a07079315e009a2e7c1573
+  VCS_VERSION 3540a3ce8126e071236352446bc1564787d3fb04
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
     "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
@@ -37,7 +46,7 @@ ament_export_dependencies(zenohc)
 
 ament_vendor(zenoh_cpp_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
-  VCS_VERSION 5dfb68c9ac966925e59bcb52f39b9bc26c0ad6d3
+  VCS_VERSION 2a127bb0f537e0028359caf1084c879330341592
   CMAKE_ARGS
     -DZENOHCXX_ZENOHC=OFF
 )