From 4b51244eee25b0983df27cf3d9f095003e34b742 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Wed, 15 Nov 2023 13:55:49 +0800 Subject: [PATCH] Add storage plugin config to router config Signed-off-by: Yadunund --- .../DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 | 26 ++++++++++++++++++- 1 file changed, 25 insertions(+), 1 deletion(-) diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 index 3fa61761..b35834f7 100644 --- a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 +++ b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 @@ -123,7 +123,7 @@ /// This option does not make LowLatency transport mandatory, the actual implementation of transport /// used will depend on Establish procedure and other party's settings /// - /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization. + /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization. /// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to /// enable 'lowlatency' you need to explicitly disable 'qos'. lowlatency: false, @@ -258,4 +258,28 @@ write: false, }, }, + + /// Plugins configurations + /// Plugins are only loaded if present in the configuration. When starting + /// Once loaded, they may react to changes in the configuration made through the zenoh instance's adminspace. + plugins: { + + /// Configure the storage manager plugin + storage_manager: { + /// Configure the storages supported by the volumes + storages: { + ros2_lv: { + /// Storages always need to know what set of keys they must work with. These sets are defined by a key expression. + key_expr: "@ros2_lv/**", + /// Storages also need to know which volume will be used to actually store their key-value pairs. + /// The "memory" volume is always available, and doesn't require any per-storage options, so requesting "memory" by string is always sufficient. + volume: "memory", + /// A complete storage advertises itself as containing all the known keys matching the configured key expression. + /// If not configured, complete defaults to false. + complete: "true", + }, + }, + }, + }, + }