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Enable Zenoh UDP transport (backport #486) #488

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Merged
merged 1 commit into from
Feb 28, 2025
Merged

Enable Zenoh UDP transport (backport #486) #488

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2 changes: 2 additions & 0 deletions rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -126,6 +126,8 @@ std::shared_ptr<PublisherData> PublisherData::make(
if (adapted_qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
pub_opts.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
}
} else {
pub_opts.reliability = Z_RELIABILITY_BEST_EFFORT;
}
adv_pub_opts.publisher_options = pub_opts;

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2 changes: 1 addition & 1 deletion zenoh_cpp_vendor/CMakeLists.txt
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Expand Up @@ -15,7 +15,7 @@ find_package(ament_cmake_vendor_package REQUIRED)
# Note: We separate the two args needed for cargo with "$<SEMICOLON>" and not ";" as the
# latter is a list separater in cmake and hence the string will be split into two
# when expanded.
set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
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
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