From 0d3032b17305ae462822b7001df2ae1788fdf805 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Mon, 19 Feb 2024 16:07:24 +0800 Subject: [PATCH] Set pub cache queryable as complete Signed-off-by: Yadunund --- rmw_zenoh_cpp/src/rmw_zenoh.cpp | 8 +++----- zenoh_c_vendor/CMakeLists.txt | 3 ++- 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp index a2863270..35a4476d 100644 --- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp +++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp @@ -561,6 +561,7 @@ rmw_create_publisher( if (publisher_data->adapted_qos_profile.durability == RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL) { ze_publication_cache_options_t pub_cache_opts = ze_publication_cache_options_default(); pub_cache_opts.history = publisher_data->adapted_qos_profile.depth; + pub_cache_opts.queryable_complete = true; publisher_data->pub_cache = ze_declare_publication_cache( z_loan(context_impl->session), z_loan(keyexpr), @@ -1289,11 +1290,8 @@ rmw_create_subscription( if (sub_data->adapted_qos_profile.durability == RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL) { ze_querying_subscriber_options_t sub_options = ze_querying_subscriber_options_default(); - // TODO(Yadunund): We need the query_target to be ALL_COMPLETE but the PubCache created - // does not setup a queryable that is complete. Once zettascale exposes that API, - // uncomment below. - // sub_options.query_target = Z_QUERY_TARGET_ALL_COMPLETE; - sub_options.query_target = Z_QUERY_TARGET_ALL; + // Target all complete publication caches which are queryables. + sub_options.query_target = Z_QUERY_TARGET_ALL_COMPLETE; // We set consolidation to none as we need to receive transient local messages // from a number of publishers. Eg: To receive TF data published over /tf_static // by various publishers. diff --git a/zenoh_c_vendor/CMakeLists.txt b/zenoh_c_vendor/CMakeLists.txt index c46edbdc..77223959 100644 --- a/zenoh_c_vendor/CMakeLists.txt +++ b/zenoh_c_vendor/CMakeLists.txt @@ -24,9 +24,10 @@ find_package(ament_cmake_vendor_package REQUIRED) # when expanded. set(ZENOHC_CARGO_FLAGS "--no-default-features$--features=zenoh/transport_tcp zenoh/shared-memory") +# Set VCS_VERSION to include changes from https://github.com/eclipse-zenoh/zenoh-c/pull/243. ament_vendor(zenoh_c_vendor VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git - VCS_VERSION 0.10.1-rc + VCS_VERSION de57b3fed5b1c3f4a83a2c0c0cb6a642c09a6210 CMAKE_ARGS "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}" )