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    Angelo Corsaro
    @kydos
    The different levels of logging supported are those explained here
    Angelo Corsaro
    @kydos
    P.S. @spiderkeys_gitlab, this VM is sitting in Germany, that won’t create issues for some simple tests, but if you need lower latencies we can spawn one closer to your region. Just let me know.
    3 replies
    Esteve Fernandez
    @esteve
    @gbiggs @codebot I'm adding support for the rosgraph in rmw_zenoh and I started with get_topic_names_and_types (see https://github.com/esteve/rmw_zenoh/tree/get-topic-names-and-types), but I'm having issues with https://github.com/esteve/rmw_zenoh/blob/get-topic-names-and-types/rmw_zenoh_cpp/src/rmw_get_topic_names_and_types.cpp
    Who would be the best person to ask questions about the rosgraph in rmw?
    Luca Cominardi
    @Mallets
    Hello all, zenoh-pico has been made available! zenoh-pico is a pure client C API for zenoh and mainly targets small devices. Deb, rpm, and tgz packages for various architectures have been made available already here.
    3 replies
    Charles Cross
    @spiderkeys_gitlab
    @kydos Thanks for checking. I've just attempted to connect again at 172.105.86.91:7447 and the connection is still being refused. Do I have the right port number?
    Angelo Corsaro
    @kydos
    Hello @spiderkeys_gitlab try now. I was doing some test and had an ssh session w/o nohup… Went away and you can imagine the rest. I’ve now started the script that runs the router and restart in case of failures.
    Let me know if you still have problems, I’ll check later tonight (I am in Paris Time)
    Charles Cross
    @spiderkeys_gitlab
    Thanks @kydos. With a couple minor modifications to the source, I was able to get things connected and transmitting string messages successfully! After getting that working, I tried to get our video streaming node bridged as well, but am running into a crash when dzd receives the video frame messages. I put some info in this issue:
    eclipse-zenoh/zenoh-plugin-dds#21
    Angelo Corsaro
    @kydos
    @spiderkeys_gitlab you should get an assertion, since the video should be fragmented by DDS and reassembly is not inplemented yet. One approach is to increase Cyclone default fragment siza as it is way smaller than the 64K allwed by UDP.
    Charles Cross
    @spiderkeys_gitlab
    Gotcha, I'll give that a try and drop the bitrate on our video to keep it under 64K
    Charles Cross
    @spiderkeys_gitlab
    @kydos That worked :) getting ~41 FPS out of our 60FPS stream, and latency is a bit bad going from USWest->Germany->USEast, but its a great starting point. How hard would it be to bring up a California server?
    Angelo Corsaro
    @kydos
    @spiderkeys_gitlab we’ll set up a router in CA. It should help reducing the latency, yet, these are micro instances for testing, if you are trying to measure achievable perfances you may want to set up something that is more resourceful. In any case keep me posted.
    Angelo Corsaro
    @kydos
    Nice demo from Greg Ivo an #Eclipse intern using #turtlebot #ROS2 and #zenoh https://youtu.be/at6JYTEIgzM
    Joe Speed
    @joespeed
    California Zenoh router sounds lovely😁 So we can live stream @spiderkeys_gitlab submersible from Lake Tahoe. Check out their video of taking iPhone 12 diving https://www.cnet.com/news/is-iphone-12-waterproof-water-resistant-our-water-test-results/
    Angelo Corsaro
    @kydos
    Hello zenohers , first off I’d like to wish you all a 2021 full of Peace, Joy, Health and Success.
    That said, I wanted to let you know that within the core team we have started to have some discussion on our wishlist of the 2021 Q1 Roadmap. Please make sure to post your wishes so that we can take it for consideration.
    We’ll post our proposal by the end of the week and will be looking for comments / feedback.
    Geoffrey Biggs
    @gbiggs
    Sounds awesome! Looking forward to seeing what you're planning
    aohwang
    @aohwang

    Hi friends, I am new to the Zenoh. I want to use the Zenoh to make Cyclone DDS work across different networks. But I have some questions about how it works, please correct me if my understanding is wrong.

    First, I need run Zenoh routers in the two networks and make them find each other.
    Second, I need run two dzd daemon in the two networks. According to my understanding, in each network the dzd daemon will discover the Zenoh router automatically without any configuration.

    Is it right?

    Thanks
    Angelo Corsaro
    @kydos
    Hello @aohwang, let’s call your two networks N1 and N2.
    aohwang
    @aohwang
    Oh sorry, it seems that I am wrong
    Angelo Corsaro
    @kydos
    You can start one router on N1 and when starting the router on N2 you provide as a startup configuration the locator of the N1 router
    aohwang
    @aohwang
    Ok
    Angelo Corsaro
    @kydos
    For example, assume the public address of the host on which you started the router 176.58.123.75, then you would start the router on N2 with the -e tcp/172.58.123.75:7447 option
    For completeness sake, please keep in mind that you are not forced to have 2 routers, one would be sufficient.
    Then you’ll have to start the dzd on N1 and N2 and that should do the trick
    OK?
    Angelo Corsaro
    @kydos
    You can also run a different configuration, in which you do not need to start routers on neither N1 nor N2. This assumes that you have some public zenoh infra running. To keep things simple, suppose you have a zenoh router running on some Cloud IaaS infra. We use a lot Linode, but anything would do. In this case, assuming that your Linode public address is 151.101.194.217, then you can just start the dzd with the option -e tcp/151.101.194.217:7447
    Finally, on both the zenohd as well as on dzd you can use the —help command line argument to get a description of all options
    Let me know if that works!
    aohwang
    @aohwang
    Thanks very much :)
    Angelo Corsaro
    @kydos
    My pleasure and have fun with zenoh! Please share your experience and if you have time give a try to the zenoh API, it is quite neat.
    aohwang
    @aohwang
    The dzd will discover the zenohd automatically, right?
    Angelo Corsaro
    @kydos
    Yes, when running on the same network and if multicast is enabled/routed on your network
    When that is not the case you just pass the locator by hand using the -e <locators> option.
    aohwang
    @aohwang
    Got it
    If the the ip address of the node 1 in the N1 is same as the ip address of the node 2 in the N2, does it still work?
    Angelo Corsaro
    @kydos
    The private addresses may be the same on N1 and N2, but not public addresses. Otherwise even at an IP level you can’t route between the two networks.
    aohwang
    @aohwang
    Thanks, I think I need read the source code of the dzd carefully to understand how it works.
    Angelo Corsaro
    @kydos
    You you do not have public address, or routable addresses from N1 to N2, then deploy a single router on a node that can be reached — at IP level — by both N1 and N2. In other terms you should be able to ping.
    aohwang
    @aohwang
    In CyclonDDS, the data traffic can be unicast or multicast transferred. In order the dzd can get the DDS data traffic, the data traffic needs be transferred using multicast?
    Angelo Corsaro
    @kydos
    dzd uses itself cyclone for spoofing DDS traffic, thus if you want to use unicast you would simply have to setup the proper cyclone DDS environment variable to point toward a configuration file that congures cyclone with unicast.
    But let me ask a question, what is your use case? Do you already have DDS applications? Or are you using DDS through ROS2?
    aohwang
    @aohwang
    Yes I have some DDS applications in the same network. I know DDS have some limitations, for example can't be used directly when publisher and subscriber are in different networks. And I noticed the zenoh can be used to solve this problem. So I come here to learn how the zenoh works and how dzd forward the DDS traffic.
    Thanks your detailed reply
    Angelo Corsaro
    @kydos
    That’s right, you should be able to make that work. Keep us posted.
    Angelo Corsaro
    @kydos
    Hello all, we have posted the roadmap for the beginning of 2021 along with a long list of features for the rest of the year. Looking forward to hearing your comments as well as your request for both what should be next as well as what should be added that is not already in.
    Luca Cominardi
    @Mallets
    Hello zenohers! We have just added the support for basic user-password authentication in zenoh. You can find the documentation on how to use it here.