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Config: tune some values for ROS use case, especially with large numb…
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…er of Nodes (>200) (#509)

Co-authored-by: Julien Enoch <[email protected]>
Co-authored-by: Yadunund <[email protected]>
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@Mallets @JEnoch @Yadunund
3 people authored Mar 7, 2025
1 parent f6a4fde commit bab4c93
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Showing 2 changed files with 40 additions and 15 deletions.
27 changes: 20 additions & 7 deletions rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
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Expand Up @@ -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: {
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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
Expand Down Expand Up @@ -448,7 +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,
Expand All @@ -458,7 +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.
Expand Down Expand Up @@ -494,6 +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,
},
},
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28 changes: 20 additions & 8 deletions rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
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Expand Up @@ -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: {
Expand Down Expand Up @@ -391,13 +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
Expand Down Expand Up @@ -456,7 +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,
Expand All @@ -466,7 +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.
Expand Down Expand Up @@ -502,7 +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
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