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Set pub cache queryable as complete #114

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merged 1 commit into from
Feb 20, 2024
Merged

Set pub cache queryable as complete #114

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8 changes: 3 additions & 5 deletions rmw_zenoh_cpp/src/rmw_zenoh.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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),
Expand Down Expand Up @@ -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.
Expand Down
3 changes: 2 additions & 1 deletion zenoh_c_vendor/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -24,9 +24,10 @@ find_package(ament_cmake_vendor_package REQUIRED)
# when expanded.
set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--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}"
)
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