From 231128c68e07ae8be1a8e44b3d32f75287def362 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Wed, 7 May 2025 21:09:12 +0200 Subject: [PATCH] Zenoh set transport lease to 60000 to match ros2 --- src/modules/zenoh/CMakeLists.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/zenoh/CMakeLists.txt b/src/modules/zenoh/CMakeLists.txt index 61dc3b6c43..50b620198f 100644 --- a/src/modules/zenoh/CMakeLists.txt +++ b/src/modules/zenoh/CMakeLists.txt @@ -52,6 +52,8 @@ if(NOT DEFINED CONFIG_PTHREAD_MUTEX_TYPES AND CONFIG_PLATFORM_NUTTX) message( SEND_ERROR "Pthread mutex is diabled, Zenoh will not function." ) endif() +set(Z_TRANSPORT_LEASE 60000 CACHE STRING "Link lease duration in milliseconds to announce to other zenoh nodes") # Match ROS2 RMW_ZENOH + set(FRAG_MAX_SIZE 512 CACHE STRING "Use this to override the maximum size for fragmented messages") set(BATCH_UNICAST_SIZE 256 CACHE STRING "Use this to override the maximum unicast batch size") set(BATCH_MULTICAST_SIZE 256 CACHE STRING "Use this to override the maximum multicast batch size")