Use rmw_security_common package

README.md

@@ -14,9 +14,20 @@ For information about the Design please visit [design](docs/design.md) page.
 
 > Note: See available distro branches, eg. `jazzy`, for supported ROS 2 distributions.
 
-## Setup
+## Installation
+`rmw_zenoh` can either be installed via binaries (recommended for stable development) or built from source (recommended if latest features are needed). See instructions below.
 
-Build `rmw_zenoh_cpp`
+### Binary Installation
+Binary packages for supported ROS 2 distributions (see distro branches) are available on respective [Tier-1](https://www.ros.org/reps/rep-2000.html#support-tiers) platforms for the distributions.
+First ensure that your system is set up to install ROS 2 binaries by following the instructions [here](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debs.html).
+
+Then install `rmw_zenoh` binaries using the command
+
+```bash
+sudo apt update && sudo apt install ros-<DISTRO>-rmw-zenoh-cpp # replace <DISTRO> with the codename for the distribution, eg., rolling
+```
+
+### Source Installation
 
 >Note: By default, we vendor and compile `zenoh-cpp` with a subset of `zenoh` features.
 The `ZENOHC_CARGO_FLAGS` CMake argument may be overwritten with other features included if required.
@@ -32,22 +43,13 @@ source /opt/ros/<DISTRO>/setup.bash
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
-## Test
-
 Make sure to source the built workspace using the commands below prior to running any other commands.
 ```bash
 cd ~/ws_rmw_zenoh
 source install/setup.bash
 ```
 
-### Start the Zenoh router
-> Note: Manually launching Zenoh router won't be necessary in the future.
-```bash
-# terminal 1
-ros2 run rmw_zenoh_cpp rmw_zenohd
-```
-
-> Note: Without the Zenoh router, nodes will not be able to discover each other since multicast discovery is disabled by default in the node's session config. Instead, nodes will receive discovery information about other peers via the Zenoh router's gossip functionality. See more information on the session configs [below](#configuration).
+## Test
 
 ### Terminate ROS 2 daemon started with another RMW
 ```bash
@@ -57,6 +59,15 @@ Without this step, ROS 2 CLI commands (e.g. `ros2 node list`) may
 not work properly since they would query ROS graph information from the ROS 2 daemon that
 may have been started with different a RMW.
 
+### Start the Zenoh router
+> Note: Manually launching Zenoh router won't be necessary in the future.
+```bash
+# terminal 1
+ros2 run rmw_zenoh_cpp rmw_zenohd
+```
+
+> Note: Without the Zenoh router, nodes will not be able to discover each other since multicast discovery is disabled by default in the node's session config. Instead, nodes will receive discovery information about other peers via the Zenoh router's gossip functionality. See more information on the session configs [below](#configuration).
+
 ### Run the `talker`
 ```bash
 # terminal 2
@@ -90,7 +101,7 @@ The behavior is explained in the table below.
 |             > 0             | Attempts to connect to a Zenoh router in `ZENOH_ROUTER_CHECK_ATTEMPTS` attempts with 1 second wait between checks. |
 |            unset            |                                                                    Equivalent to `1`: the check is made only once. |
 
-If after the configured number of attempts the Node is still not connected to a `Zenoh router`, the initialisation goes on anyway.  
+If after the configured number of attempts the Node is still not connected to a `Zenoh router`, the initialisation goes on anyway.
 If a `Zenoh router` is started after initialization phase, the Node will automatically connect to it, and autoconnect to other Nodes if gossip scouting is enabled (true with default configuratiuon).
 
 ### Session and Router configs
@@ -111,20 +122,23 @@ export ZENOH_ROUTER_CONFIG_URI=$HOME/MY_ZENOH_ROUTER_CONFIG.json5
 ```
 
 ### Connecting multiple hosts
-By default, all discovery traffic is local per host, where the host is the PC running a `Zenoh router`.
-To bridge communications across two hosts, the `Zenoh router` configuration for one the hosts must be updated to connect to the other `Zenoh router` at startup.
-This is done by specifying an endpoint in host's `Zenoh router` configuration file to as seen below.
-In this example, the `Zenoh router` will connect to the `Zenoh router` running on a second host with IP address `192.168.1.1` and port `7447`.
+By default, all discovery & communication is restricted within a host, where a host is a machine running a `Zenoh router` along with various ROS 2 nodes with their default [configurations](rmw_zenoh_cpp/config/).
+To bridge communications across two or more hosts, the `Zenoh router` configuration for one of the hosts must be updated to connect to the other host's `Zenoh router` at startup.
+
+First, make a copy of the [DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5](rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5) and modify the `connect` block to include the endpoint(s) that the other host's `Zenoh router(s)` is listening on.
+For example, if another `Zenoh router` is listening on IP address `192.168.1.1` and port `7447` on its host, modify the config file to connect to this router as shown below:
 
 ```json5
+/// ... preceding parts of the config file.
 {
   connect: {
     endpoints: ["tcp/192.168.1.1:7447"],
   },
 }
+/// ... following parts of the config file.
 ```
 
-> Note: To connect multiple hosts, include the endpoints of all `Zenoh routers` in the network.
+Then, start the `Zenoh router` after setting the `ZENOH_ROUTER_CONFIG_URI` environment variable to the absolute path of the modified config file.
 
 ### Logging
 

rmw_zenoh_cpp/CHANGELOG.rst

@@ -2,7 +2,20 @@
 Changelog for package rmw_zenoh_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.1 (2025-02-04)
+------------------
+* Bump Zenoh to commit id e4ea6f0 (1.2.0 + few commits) (`#446 <https://github.com/ros2/rmw_zenoh/issues/446>`_)
+* Inform users that peers will not discover and communicate with one another until the router is started (`#440 <https://github.com/ros2/rmw_zenoh/issues/440>`_)
+* Clear the error after rmw_serialized_message_resize() (`#435 <https://github.com/ros2/rmw_zenoh/issues/435>`_)
+* Fix `ZENOH_ROUTER_CHECK_ATTEMPTS` which was not respected (`#427 <https://github.com/ros2/rmw_zenoh/issues/427>`_)
+* fix: use the default destructor to drop the member `Payload` (`#419 <https://github.com/ros2/rmw_zenoh/issues/419>`_)
+* Remove `gid_hash\_` from `AttachmentData` (`#416 <https://github.com/ros2/rmw_zenoh/issues/416>`_)
+* Sync the config with the default config in Zenoh. (`#396 <https://github.com/ros2/rmw_zenoh/issues/396>`_)
+* fix: check the context validity before accessing the session (`#403 <https://github.com/ros2/rmw_zenoh/issues/403>`_)
+* Fix wan't typo (`#400 <https://github.com/ros2/rmw_zenoh/issues/400>`_)
+* Contributors: ChenYing Kuo (CY), Chris Lalancette, Julien Enoch, Mahmoud Mazouz, Tim Clephas, Yuyuan Yuan, Yadunund
+
 0.3.0 (2025-01-02)
 ------------------
 * An alternative middleware for ROS 2 based on Zenoh.
-* Contributors: Alejandro Hernández Cordero, Alex Day, Bernd Pfrommer, ChenYing Kuo (CY), Chris Lalancette, Christophe Bedard, CihatAltiparmak, Esteve Fernandez, Franco Cipollone, Geoffrey Biggs, Hans-Martin, James Mount, Julien Enoch, Morgan Quigley, Nate Koenig, Shivang Vijay, Yadunund, Yuyuan Yuan, methylDragon
+* Contributors: Alejandro Hernández Cordero, Alex Day, Bernd Pfrommer, ChenYing Kuo (CY), Chris Lalancette, Christophe Bedard, CihatAltiparmak, Esteve Fernandez, Franco Cipollone, Geoffrey Biggs, Hans-Martin, James Mount, Julien Enoch, Morgan Quigley, Nate Koenig, Shivang Vijay, Yadunund, Yuyuan Yuan, methylDragon

rmw_zenoh_cpp/CMakeLists.txt

@@ -21,12 +21,11 @@ find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
-find_package(rmw_dds_common REQUIRED)
+find_package(rmw_security_common REQUIRED)
 find_package(tracetools REQUIRED)
 find_package(zenoh_cpp_vendor REQUIRED)
 
 if(SECURITY)
-  find_package(OpenSSL REQUIRED)
   set(HAVE_SECURITY 1)
 endif()
 
@@ -74,7 +73,7 @@ target_link_libraries(rmw_zenoh_cpp
     rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c
     rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
     rmw::rmw
-    rmw_dds_common::rmw_dds_common_library
+    rmw_security_common::rmw_security_common_library
     tracetools::tracetools
     zenohcxx::zenohc
 )

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

@@ -135,11 +135,11 @@
       /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
       /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
       /// Each value is a list of: "peer", "router" and/or "client".
-      autoconnect: { router: [], peer: ["router", "peer"] },
+      autoconnect: { router: [], peer: ["router", "peer"], client: ["router"] },
       /// Whether or not to listen for scout messages on UDP multicast and reply to them.
       listen: true,
     },
-    /// The gossip scouting configuration.
+    /// The gossip scouting configuration. Note that instances in "client" mode do not participate in gossip.
     gossip: {
       /// Whether gossip scouting is enabled or not
       enabled: true,
@@ -149,10 +149,17 @@
       /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
       /// direct connectivity with each other.
       multihop: false,
+      /// Which type of Zenoh instances to send gossip messages to.
+      /// Accepts a single value (e.g. target: ["router", "peer"]) which applies whatever the configured "mode" is,
+      /// or different values for router or peer mode (e.g. target: { router: ["router", "peer"], peer: ["router"] }).
+      /// Each value is a list of "peer" and/or "router".
+      /// ROS setting: by default all peers rely on the router to discover each other. Thus configuring the peer to send gossip
+      ///               messages only to the router is sufficient and avoids unecessary traffic between Nodes at launch time.
+      target: { router: ["router", "peer"], peer: ["router"]},
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
       /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
-      /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
-      /// Each value is a list of: "peer", "router" and/or "client".
+      /// or different values for router or peer mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
+      /// Each value is a list of: "peer" and/or "router".
       autoconnect: { router: [], peer: ["router", "peer"] },
     },
   },
@@ -191,6 +198,14 @@
       /// The routing strategy to use in peers. ("peer_to_peer" or "linkstate").
       mode: "peer_to_peer",
     },
+    /// The interests-based routing configuration.
+    /// This configuration applies regardless of the mode (router, peer or client).
+    interests: {
+      /// The timeout to wait for incoming interests declarations in milliseconds.
+      /// The expiration of this timeout implies that the discovery protocol might be incomplete,
+      /// leading to potential loss of messages, queries or liveliness tokens.
+      timeout: 10000,
+    },
   },
 
   //  /// Overwrite QoS options for Zenoh messages by key expression (ignores Zenoh API QoS config for overwritten values)
@@ -343,11 +358,11 @@
       open_timeout: 10000,
       /// Timeout in milliseconds when accepting a link
       accept_timeout: 10000,
-      /// Maximum number of zenoh session in pending state while accepting
+      /// Maximum number of links in pending state while performing the handshake for accepting it
       accept_pending: 100,
-      /// Maximum number of sessions that can be simultaneously alive
+      /// Maximum number of transports that can be simultaneously alive for a single zenoh sessions
       max_sessions: 1000,
-      /// Maximum number of incoming links that are admitted per session
+      /// Maximum number of incoming links that are admitted per transport
       max_links: 1,
       /// Enables the LowLatency transport
       /// This option does not make LowLatency transport mandatory, the actual implementation of transport
@@ -429,14 +444,14 @@
           /// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU.
           /// If qos is false, then only the DATA priority will be allocated.
           size: {
-            control: 1,
-            real_time: 1,
-            interactive_high: 1,
-            interactive_low: 1,
+            control: 2,
+            real_time: 2,
+            interactive_high: 2,
+            interactive_low: 2,
             data_high: 2,
-            data: 4,
-            data_low: 4,
-            background: 4,
+            data: 2,
+            data_low: 2,
+            background: 2,
           },
           /// Congestion occurs when the queue is empty (no available batch).
           congestion_control: {
@@ -464,6 +479,12 @@
             /// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens.
             time_limit: 1,
           },
+          allocation: {
+            /// Mode for memory allocation of batches in the priority queues. 
+            /// - "init": batches are allocated at queue initialization time. 
+            /// - "lazy": batches are allocated when needed up to the maximum number of batches configured in the size configuration parameter.
+            mode: "lazy",
+          },
         },
       },
       /// Configure the zenoh RX parameters of a link

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -140,11 +140,11 @@
       /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
       /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
       /// Each value is a list of: "peer", "router" and/or "client".
-      autoconnect: { router: [], peer: ["router", "peer"] },
+      autoconnect: { router: [], peer: ["router", "peer"], client: ["router"] },
       /// Whether or not to listen for scout messages on UDP multicast and reply to them.
       listen: true,
     },
-    /// The gossip scouting configuration.
+    /// The gossip scouting configuration. Note that instances in "client" mode do not participate in gossip.
     gossip: {
       /// Whether gossip scouting is enabled or not
       enabled: true,
@@ -154,10 +154,17 @@
       /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
       /// direct connectivity with each other.
       multihop: false,
+      /// Which type of Zenoh instances to send gossip messages to.
+      /// Accepts a single value (e.g. target: ["router", "peer"]) which applies whatever the configured "mode" is,
+      /// or different values for router or peer mode (e.g. target: { router: ["router", "peer"], peer: ["router"] }).
+      /// Each value is a list of "peer" and/or "router".
+      /// ROS setting: by default all peers rely on the router to discover each other. Thus configuring the peer to send gossip
+      ///               messages only to the router is sufficient and avoids unecessary traffic between Nodes at launch time.
+      target: { router: ["router", "peer"], peer: ["router"]},
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
       /// Accepts a single value (e.g. autoconnect: ["router", "peer"])
-      /// or different values for router, peer and client (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
-      /// Each value is a list of: "peer", "router" and/or "client".
+      /// or different values for router or peer mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
+      /// Each value is a list of: "peer" and/or "router".
       autoconnect: { router: [], peer: ["router", "peer"] },
     },
   },
@@ -194,6 +201,14 @@
       /// The routing strategy to use in peers. ("peer_to_peer" or "linkstate").
       mode: "peer_to_peer",
     },
+    /// The interests-based routing configuration.
+    /// This configuration applies regardless of the mode (router, peer or client).
+    interests: {
+      /// The timeout to wait for incoming interests declarations in milliseconds.
+      /// The expiration of this timeout implies that the discovery protocol might be incomplete,
+      /// leading to potential loss of messages, queries or liveliness tokens.
+      timeout: 10000,
+    },
   },
 
   //  /// Overwrite QoS options for Zenoh messages by key expression (ignores Zenoh API QoS config for overwritten values)
@@ -346,11 +361,11 @@
       open_timeout: 10000,
       /// Timeout in milliseconds when accepting a link
       accept_timeout: 10000,
-      /// Maximum number of zenoh session in pending state while accepting
+      /// Maximum number of links in pending state while performing the handshake for accepting it
       accept_pending: 100,
-      /// Maximum number of sessions that can be simultaneously alive
+      /// Maximum number of transports that can be simultaneously alive for a single zenoh sessions
       max_sessions: 1000,
-      /// Maximum number of incoming links that are admitted per session
+      /// Maximum number of incoming links that are admitted per transport
       max_links: 1,
       /// Enables the LowLatency transport
       /// This option does not make LowLatency transport mandatory, the actual implementation of transport
@@ -432,14 +447,14 @@
           /// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU.
           /// If qos is false, then only the DATA priority will be allocated.
           size: {
-            control: 1,
-            real_time: 1,
-            interactive_high: 1,
-            interactive_low: 1,
+            control: 2,
+            real_time: 2,
+            interactive_high: 2,
+            interactive_low: 2,
             data_high: 2,
-            data: 4,
-            data_low: 4,
-            background: 4,
+            data: 2,
+            data_low: 2,
+            background: 2,
           },
           /// Congestion occurs when the queue is empty (no available batch).
           congestion_control: {
@@ -467,6 +482,12 @@
             /// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens.
             time_limit: 1,
           },
+          allocation: {
+            /// Mode for memory allocation of batches in the priority queues. 
+            /// - "init": batches are allocated at queue initialization time. 
+            /// - "lazy": batches are allocated when needed up to the maximum number of batches configured in the size configuration parameter.
+            mode: "lazy",
+          },
         },
       },
       /// Configure the zenoh RX parameters of a link

rmw_zenoh_cpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmw_zenoh_cpp</name>
-  <version>0.3.0</version>
+  <version>0.3.1</version>
   <description>A ROS 2 middleware implementation using zenoh-cpp</description>
   <maintainer email="[email protected]">Yadunund</maintainer>
 
@@ -25,7 +25,7 @@
   <depend>rosidl_typesupport_fastrtps_c</depend>
   <depend>rosidl_typesupport_fastrtps_cpp</depend>
   <depend>rmw</depend>
-  <depend>rmw_dds_common</depend>
+  <depend>rmw_security_common</depend>
   <depend>tracetools</depend>
 
   <test_depend>ament_lint_auto</test_depend>