Finish GraphCache implementation for Pub/Sub (#66)

* Add storage plugin config to router config Signed-off-by: Yadunund <[email protected]> * Fix non empty node namespace Signed-off-by: Yadunund <[email protected]> * Rely on unordered_map instead of yaml for graph cache Signed-off-by: Yadunund <[email protected]> * Update graph cache with publisher data Signed-off-by: Yadunund <[email protected]> * Implement basic publisher introspection Signed-off-by: Yadunund <[email protected]> * Switch to liveliness tokens (#67) * Switch to liveliness tokens Signed-off-by: Yadunund <[email protected]> * Use zc APIs instead of macros to resolve liveliness api issues Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Yadunund <[email protected]> * Cleanup yaml-cpp Signed-off-by: Yadunund <[email protected]> * Cleanup previous graph cache impl Signed-off-by: Yadunund <[email protected]> * Refactor topic cache Signed-off-by: Yadunund <[email protected]> * Implement liveliness tokens for subscriptions and update graph Signed-off-by: Yadunund <[email protected]> * Fix types and type mangling. When playing around with this I found that the types weren't being properly filled in, and also weren't being demangled. Fix both of those things here, as well as do a lot of cleanup. Signed-off-by: Chris Lalancette <[email protected]> * Update README Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Yadunund <[email protected]> Signed-off-by: Chris Lalancette <[email protected]> Co-authored-by: Chris Lalancette <[email protected]>
ros2 · Jan 12, 2024 · 3b62ea4 · 3b62ea4
1 parent 29a6f7f
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diff --git a/README.md b/README.md
@@ -25,7 +25,7 @@ Build `rmw_zenoh_cpp`
 
 ```bash
 mkdir ~/ws_rmw_zenoh/src -p && cd ~/ws_rmw_zenoh/src
-git clone git@github.com:ros2/rmw_zenoh.git
+git clone https://github.com/ros2/rmw_zenoh.git
 cd ~/ws_rmw_zenoh
 source /opt/ros/<DISTRO>/setup.bash # replace <DISTRO> with ROS 2 distro of choice
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
@@ -34,25 +34,42 @@ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 
 ## Test
 
-Source workspace
+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
 ```
 
-In a terminal launch Zenoh router:
+### Start the zenoh router
+> Note: Manually launching zenoh router won't be necessary in the future.
 ```bash
+# terminal 1
 ros2 run rmw_zenoh_cpp init_rmw_zenoh_router
 ```
-> Note: Manually launching zenoh router won't be necessary in the future.
 
-In a different terminal source install folder and execute:
+> 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](#config).
+
+### Run the `talker`
+```bash
+# terminal 2
+export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+ros2 run demo_nodes_cpp talker
+```
+> Note: Ignore all the warning printouts.
 
+### Run the `listener`
 ```bash
+# terminal 2
 export RMW_IMPLEMENTATION=rmw_zenoh_cpp
-ros2 topic pub "/chatter" std_msgs/msg/String '{data: hello}'
+ros2 run demo_nodes_cpp listener
 ```
 
+The listener node should start receiving messages over the `/chatter` topic.
+> Note: Ignore all the warning printouts.
+
+### Graph introspection
+Presently we only support limited `ros2cli` commands to introspect the ROS graph such as `ros2 node list` and `ros2 topic list`.
+
 ## Config
 The [default configuration](rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5) sets up the zenoh sessions with the following main characteristics:
 
@@ -69,7 +86,7 @@ A custom configuration may be provided by setting the `RMW_ZENOH_CONFIG_FILE` en
 
 ## TODO Features
 - [x] Publisher
-- [ ] Subscription
+- [x] Subscription
 - [ ] Client
 - [ ] Service
 - [ ] Graph introspection
diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
@@ -21,7 +21,6 @@ find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
-find_package(yaml_cpp_vendor REQUIRED)
 find_package(zenoh_c_vendor REQUIRED)
 find_package(zenohc REQUIRED)
 
@@ -57,7 +56,6 @@ target_link_libraries(rmw_zenoh_cpp
     rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c
     rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
     rmw::rmw
-    yaml-cpp
     zenohc::lib
 )
 

diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
@@ -123,7 +123,7 @@
       /// This option does not make LowLatency transport mandatory, the actual implementation of transport
       /// used will depend on Establish procedure and other party's settings
       ///
-      /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization. 
+      /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization.
       /// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to
       ///       enable 'lowlatency' you need to explicitly disable 'qos'.
       lowlatency: false,
@@ -258,4 +258,5 @@
       write: false,
     },
   },
+
 }
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
@@ -19,7 +19,6 @@
   <depend>rosidl_typesupport_fastrtps_c</depend>
   <depend>rosidl_typesupport_fastrtps_cpp</depend>
   <depend>rmw</depend>
-  <depend>yaml_cpp_vendor</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>