Merge branch 'rolling' into yadu/namespace

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

@@ -189,14 +189,7 @@
         },
         // Number of threads dedicated to transmission
         // By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4)
-        // We limit the number of threads that the zenoh session can spin to 1.
-        // Without this limit, applications with multiple zenoh sessions can
-        // encounter system resource errors when trying to create new threads.
-        // Once zenoh migrates to relying on tokio for its async runtime,
-        // see https://github.com/eclipse-zenoh/zenoh/pull/566, we can consider
-        // removing these flags since with tokio, zenoh can better manage the threads it spins
-        // with the help of thread pools.
-        threads: 1,
+        // threads: 1,
       },
       /// Configure the zenoh RX parameters of a link
       rx: {

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -189,14 +189,7 @@
         },
         // Number of threads dedicated to transmission
         // By default, the number of threads is calculated as follows: 1 + ((#cores - 1) / 4)
-        // We limit the number of threads that the zenoh session can spin to 1.
-        // Without this limit, applications with multiple zenoh sessions can
-        // encounter system resource errors when trying to create new threads.
-        // Once zenoh migrates to relying on tokio for its async runtime,
-        // see https://github.com/eclipse-zenoh/zenoh/pull/566, we can consider
-        // removing these flags since with tokio, zenoh can better manage the threads it spins
-        // with the help of thread pools.
-        threads: 1,
+        // threads: 1,
       },
       /// Configure the zenoh RX parameters of a link
       rx: {

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -81,26 +81,9 @@ namespace
 // careful about who owns the string.
 z_owned_keyexpr_t ros_topic_name_to_zenoh_key(const char * const topic_name, size_t domain_id)
 {
-  std::string d = std::to_string(domain_id);
-
-  size_t start_offset = 0;
-  size_t topic_name_len = strlen(topic_name);
-  size_t end_offset = topic_name_len;
-
-  if (topic_name_len > 0) {
-    if (topic_name[0] == '/') {
-      // Strip the leading '/'
-      start_offset = 1;
-    }
-    if (topic_name[end_offset - 1] == '/') {
-      // Strip the trailing '/'
-      end_offset -= 1;
-    }
-  }
-
-  return z_keyexpr_join(
-    z_keyexpr(d.c_str()),
-    zc_keyexpr_from_slice(&topic_name[start_offset], end_offset - start_offset));
+  const std::string keyexpr_str = std::to_string(domain_id) + "/" + liveliness::mangle_name(
+    topic_name);
+  return z_keyexpr_new(keyexpr_str.c_str());
 }
 
 //==============================================================================

zenoh_c_vendor/CMakeLists.txt

@@ -24,16 +24,12 @@ 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/pull/802
-# which was synced to zenoh-c in https://github.com/eclipse-zenoh/zenoh-c/pull/272.
-# Apply patches:
-# - https://github.com/eclipse-zenoh/zenoh-c/pull/301
+# Set VCS_VERSION to include latest changes from zenoh-c https://github.com/eclipse-zenoh/zenoh-c/pull/340.
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION 10176b911096cb92b8ee46bc491b78079ee26c20
+  VCS_VERSION 68ab0c1faa2c3521680352778e618d95f15e2e95
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
-  PATCHES patches
 )
 
 # set(INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-prefix/install")
@@ -42,5 +38,4 @@ ament_vendor(zenoh_c_vendor
 #   DESTINATION "lib/${PROJECT_NAME}"
 #   USE_SOURCE_PERMISSIONS
 # )
-
 ament_package()

zenoh_c_vendor/package.xml

@@ -7,13 +7,12 @@
   <maintainer email="[email protected]">Yadunund</maintainer>
   <license>Apache License 2.0</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
 
   <build_depend>cargo</build_depend>
   <build_depend>clang</build_depend>
+  <build_depend>git</build_depend>
 
   <export>
     <build_type>ament_cmake</build_type>