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ros2 / rmw_zenoh

RMW for ROS 2 using Zenoh as the middleware
Apache License 2.0
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Check for router connectivity more often #277

Closed Yadunund closed 1 month ago

Yadunund commented 1 month ago

At present we retry the check for a router every 1s which may be slow. We should reduce this down to 100ms as recommended https://github.com/ros2/rmw_zenoh/pull/258#discussion_r1710194598

evshary commented 1 month ago

Yes, we also came across the issue while doing tests. It severely affects the time to do a full system test. https://github.com/ZettaScaleLabs/rmw_zenoh/issues/12 I think we can move this line into the if-condition, which means only waiting if the router is not found. However, it will cause some liveliness issues in Zenoh. We'll update the liveliness mechanism later. For the time being, reducing the sleep time might be a better option.