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Add threads limit to router config #97

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Jan 23, 2024
Merged

Add threads limit to router config #97

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10 changes: 10 additions & 0 deletions rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
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Original file line number Diff line number Diff line change
Expand Up @@ -185,6 +185,16 @@
/// Higher values lead to a more aggressive batching but it will introduce additional latency.
backoff: 100,
},
// 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,
},
/// Configure the zenoh RX parameters of a link
rx: {
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