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Improve project with rosbags, zenoh and remove old files
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‎config/rosbag_topics.yaml

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# Aerostack2
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/drone0/actuator_command/twist
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/drone0/motion_reference/pose
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/drone0/self_localization/pose
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/drone0/self_localization/twist
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/drone0/sensor_measurements/battery
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/drone0/sensor_measurements/imu
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/rosout
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/tf
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/tf_static
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‎config/zenoh_config_drone.json5

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////
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//// This file presents the default configuration used by both the `zenoh-plugin-ros2dds` plugin and the `zenoh-bridge-ros2dds` standalone executable.
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//// The "ros2" JSON5 object below can be used as such in the "plugins" part of a config file for the zenoh router (zenohd).
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////
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{
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plugins: {
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////
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//// ROS2 related configuration
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//// All settings are optional and are unset by default - uncomment the ones you want to set
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////
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ros2dds: {
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////
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//// nodename: A ROS node name to be used by this bridge.
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//// Default: "zenoh_bridge_ros2dds"
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////
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// nodename: "zenoh_bridge_ros2dds",
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////
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//// namespace: A ROS namespace which:
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//// - is used for the "zenoh_bridge_ros2dds" node itself
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//// - is added to all discovered interfaces when routed to Zenoh
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//// (i.e. a "cmd_vel" topic in the robot will be seen as "namespace/cmd_vel" outside the robot)
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//// Note that this also applies to topics with absolute path such as "/rosout", "/tf" and "/tf_static".
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//// Default: "/"
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////
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// namespace: "/",
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////
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//// domain: The DDS Domain ID. By default set to 0, or to "$ROS_DOMAIN_ID" is this environment variable is defined.
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////
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// domain: 0,
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////
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//// ros_localhost_only: If set to true, the DDS discovery and traffic will occur only on the localhost interface (127.0.0.1).
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//// By default set to false, unless the "ROS_LOCALHOST_ONLY=1" environment variable is defined.
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////
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// ros_localhost_only: true,
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////
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//// shm_enabled: If set to true, the DDS implementation will use Iceoryx shared memory.
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//// Requires the bridge to be built with the 'dds_shm' feature for this option to valid.
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//// By default set to false.
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////
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// shm_enabled: false,
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////
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//// allow / deny: Specify the lists of ROS 2 interfaces that are allowed or denied to be routed over Zenoh.
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//// Each element of the lists is a regular expression that must match the full interface name.
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//// You cannot set both 'allow' and 'deny' in the same configuration.
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//// If neither 'allow' nor 'deny' are set, all interfaces are allowed.
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//// Use 'allow' to allow only the specified interfaces. If an interface type is set to an empty list
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//// or is not specified at all, it means that NO such interface is allowed.
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//// Use 'deny' to allow all except the specified interfaces. If an interface type is set to an empty list
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//// or is not specified at all, it means that ALL such interface are allowed.
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allow: {
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publishers: ["*/mission_status"],
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subscribers: ["*/mission_update"],
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// service_servers: [".*/.*_parameters"],
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// service_clients: [],
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// action_servers: [".*/rotate_absolute"],
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// action_clients: [],
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},
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// deny: {
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// publishers: ["/rosout", "/parameter_events"],
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// subscribers: ["/rosout"],
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// service_servers: [".*/set_parameters"],
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// service_clients: [".*/set_parameters"],
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// action_servers: [],
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// action_clients: [],
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// },
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////
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//// pub_max_frequencies: Specify a list of maximum frequency of publications routing over zenoh for a set of Publishers.
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//// The strings must have the format "<regex>=<float>":
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//// - "regex" is a regular expression matching a Publisher interface name
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//// - "float" is the maximum frequency in Hertz;
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//// if publication rate is higher, downsampling will occur when routing.
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// pub_max_frequencies: ["/tf=10", "/tf_static=10", ".*/debug/ref_traj_point=10", ".*/self_localization/pose=10"],
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////
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//// pub_priorities: Specify a list of priorities of publications routing over zenoh for a set of Publishers.
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//// In case of high traffic, the publications with higher priorities will overtake
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//// the publications with lower priorities in Zenoh publication queues.
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//// The strings must have the format "<regex>=<integer>[:express]":
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//// - "regex" is a regular expression matching a Publisher topic name
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//// - "integer" is a priority value in the range [1-7]. Highest priority is 1, lowest is 7 and default is 5.
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//// (see Zenoh Priority definition here: https://docs.rs/zenoh/latest/zenoh/publication/enum.Priority.html)
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//// - ":express" is an option to indicate that the Zenoh express policy must be used for those publications.
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//// The express policy makes Zenoh to to send the message immediatly, not waiting for possible further messages
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//// to create a bigger batch of messages. This usually has a positive impact on latency for the topic
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//// but a negative impact on the general throughput, as more overhead is used for those topics.
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// pub_priorities: ["/scan=1:express", "/pose=2", "/rosout=7"],
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////
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//// reliable_routes_blocking: When true, the publications from a RELIABLE DDS Writer will be
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//// routed to zenoh using the CongestionControl::Block option.
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//// Meaning the routing will be blocked in case of network congestion,
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//// blocking the DDS Reader and the RELIABLE DDS Writer in return.
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//// When false (or for BERST_EFFORT DDS Writers), CongestionControl::Drop
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//// is used, meaning the route might drop some data in case of congestion.
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////
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// reliable_routes_blocking: true,
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////
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//// queries_timeout: Timeouts configuration for various Zenoh queries.
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//// Each field is optional. If not set, the 'default' timeout (5.0 seconds by default) applies to all queries.
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//// Each value can be either a float in seconds that will apply as a timeout to all queries,
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//// either a list of strings with format "<regex>=<float>" where:
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//// - "regex" is a regular expression matching an interface name
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//// - "float" is the timeout in seconds
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// queries_timeout: {
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// //// default timeout that will apply to all query, except the ones specified below
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// //// in 'transient_local_subscribers', 'services' and 'actions'
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// default: 5.0,
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// //// timeouts for TRANSIENT_LOCAL subscriber when querying publishers for historical publications
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// transient_local_subscribers: 1.0,
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// //// timeouts for Service clients calling a Service server
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// services: ["add_two_ints=0.5", ".*=1.0"],
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// //// timeouts for Action clients calling an Action server (send_goal, cancel_goal and get_result services)
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// actions: {
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// send_goal: 1.0,
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// cancel_goal: 1.0,
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// get_result: [".*long_mission=3600", ".*short_action=10.0"],
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// }
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// },
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////
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//// This plugin uses Tokio (https://tokio.rs/) for asynchronous programming.
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//// When running as a plugin within a Zenoh router, the plugin creates its own Runtime managing 2 pools of threads:
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//// - worker threads for non-blocking tasks. Those threads are spawn at Runtime creation.
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//// - blocking threads for blocking tasks (e.g. I/O). Those threads are spawn when needed.
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//// For more details see https://github.com/tokio-rs/tokio/discussions/3858#discussioncomment-869878
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//// When running as a standalone bridge the Zenoh Session's Runtime is used and can be configured via the
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//// `ZENOH_RUNTIME` environment variable. See https://docs.rs/zenoh-runtime/latest/zenoh_runtime/enum.ZRuntime.html
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////
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//// work_thread_num: The number of worker thread in the asynchronous runtime will use. (default: 2)
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//// Only for a plugin, no effect on a bridge.
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// work_thread_num: 2,
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//// max_block_thread_num: The number of blocking thread in the asynchronous runtime will use. (default: 50)
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//// Only for a plugin, no effect on a bridge.
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// max_block_thread_num: 50,
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},
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////
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//// REST API configuration (active only if this part is defined)
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////
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// rest: {
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// ////
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// //// The HTTP port number (for all network interfaces).
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// //// You can bind on a specific interface setting a "<local_ip>:<port>" string.
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// ////
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// http_port: 8000,
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// },
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},
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////
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//// Zenoh related configuration.
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//// Only the most relevant sections are displayed here.
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//// For a complete view of configuration possibilities, see https://github.com/eclipse-zenoh/zenoh/blob/main/DEFAULT_CONFIG.json5
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////
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/// The identifier (as unsigned 128bit integer in hexadecimal lowercase - leading zeros are not accepted)
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/// that zenoh runtime will use.
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/// If not set, a random unsigned 128bit integer will be used.
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/// WARNING: this id must be unique in your zenoh network.
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// id: "1234567890abcdef",
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////
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//// mode: The bridge's mode (router, peer or client)
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////
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//mode: "router",
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////
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//// Which endpoints to connect to. E.g. tcp/localhost:7447.
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//// By configuring the endpoints, it is possible to tell zenoh which remote router or other zenoh-bridge-ros2dds to connect to at startup.
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////
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connect: {
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endpoints: [
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// "<proto>/<ip>:<port>"
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]
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},
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////
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//// Which endpoints to listen on.
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//// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
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//// peers, or client can use to establish a zenoh session.
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//// In 'router' mode (default) the zenoh-bridge-ros2dds is listening by default on `tcp/0.0.0.0:7447` (`0.0.0.0` meaning all the available network interfaces)
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////
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// listen: {
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// endpoints: [
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// // "<proto>/<ip>:<port>"
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// ]
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//},
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////
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//// Configure the scouting mechanisms and their behaviours
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////
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//scouting: {
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// /// The UDP multicast scouting configuration.
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// multicast: {
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// /// Whether multicast scouting is enabled or not
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// enabled: true,
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// /// The socket which should be used for multicast scouting
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// address: "224.0.0.224:7446",
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// /// The network interface which should be used for multicast scouting
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// interface: "auto", // If not set or set to "auto" the interface if picked automatically
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// /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
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// /// Accepts a single value or different values for router, peer and client.
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// /// Each value is an array containing values "peer", "router" and "client".
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// autoconnect: { router: [], peer: ["router","peer"] },
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// /// Whether or not to listen for scout messages on UDP multicast and reply to them.
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// listen: true,
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// },
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// /// The gossip scouting configuration.
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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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// /// When true, gossip scouting information is propagated multiple hops to all nodes in the local network.
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// /// When false, gossip scouting information is only propagated to the next hop.
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// /// Activating multihop gossip implies more scouting traffic and a lower scalability.
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// /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
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// /// direct connectivity with each other.
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// multihop: false,
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// /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
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// /// Accepts a single value or different values for router, peer and client.
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// /// Each value is an array containing values "peer", "router" and "client".
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// autoconnect: { router: [], peer: ["router","peer"] },
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// },
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//},
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}

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