Route for Service Client: use the new Zenoh Querier and its matching_listener #356
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…ate the route, rather than Liveliness Tokens
evshary
approved these changes
Dec 11, 2024
There was a problem hiding this comment.
LGTM
However, there is an error log while testing the communication between Zenoh and ROS
Unable to push non droppable network message to 53c91389c0acbb623c487c7ee51ef29e. Closing transport!
INTERNAL ERROR sending DDSDiscoveryEvent to internal channel: "Disconnected(..)"
I'm not sure if this is expected.
|
Link the CI PR necessary for this one |
This message may happens when the Zenoh connection is closed, but there are still attempts to send messages. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The route for a ROS Service Client (i.e. routing DDS requests to Zenoh query and the Zenoh replies back to DDS) was activated (i.e. creating DDS readers/writer reflecting a remote Service Server) only when a Liveliness Token announcing a remote Service Server is received.
This complicates the implementation of a pure Zenoh Service Server replying to a ROS Service Client, since it also has to declare an appropriate Liveliness Token (in the same way than the bridge done.
Fortunately, Zenoh 1.0.4 introduces a
Querierthat can be associated to aMatchingListenerwhich is triggered when at least 1 matchingQueryableis discovered or when all matchingQueryableare gone.This PR makes use of this to activate the Service Client route when a matching Zenoh Queryable is detected, and deactivated when all matching Queryables are gone.