zenoh Unable to push non droppable network message to

[andrea-aurea]

I have a system in which a ros2 bag is played to generate a map. I also have a computer on which I launch the rviz interface to vie the map. On both I have configured zenoh in both as a peer connected to the IP of the other and listening on tcp/0.0.0.0/7447. It starts well loading the map, but suddenly it stops giving an error "ERROR ThreadId(16) zenoh_transport::unicast::universal::tx: Unable to push non droppable network message to 36705516b03a62489101f3eaf86dcf46. Closing transport!". I have also tried to use one as a router and the computer as a client, but it doesn't work either. I tried to set reliable_routes_blocking to true, with the same problem. Can anyone help? Thanks in advance.

[fuzzypixelz]

I suggest you adjust your wait_before_close configuration value: https://github.com/eclipse-zenoh/zenoh/blob/ffbe4555ceeddf642b82c43f7fa75a938268c7f3/DEFAULT_CONFIG.json5#L621-L625

[andrea-aurea]

Thank you! I didn't use that parameter, but by configuring that zenoh file I managed to solve the problem. I forgot to close the discussion, but thank you very much anyway!

[fuzzypixelz]

Could you please elaborate on how you fixed your issue?

[andrea-aurea]

Not sure which parameter was the solution, but this is the configuration of my file:
reliable_routes_blocking: false,
transport: {
unicast: {
lowlatency: false,
qos: {enabled: true,},
compression: {enabled: true,},
},
multicast: {
qos: {enabled: true,},
compression: {enabled: true,},
},
link: {
protocols: ["udp"],
tx: {
lease: 60000,
keep_alive: 4,
batch_size: 65535
},
rx: {
buffer_size: 65535,
max_message_size: 16777216
},
},
},

scouting: {
delay: 15000,
multicast: {enabled: false,},
gossip: {
enabled: true,
target: { peer: ["router", "peer"] },
autoconnect: { peer: ["router", "peer"] },
},
},
I also set the ‘pub_priorities’ parameter for certain topics that were not being sent well. For the mode I used ‘peer’ on both, connected to each other's IP and listening on their own.

In addition, I created a XML file to configure cyclone with the parameters NetworkInterface, AllowMulticast, FragmentSize, MaxMessageSize, MaxRexmitMessageSize, EnableTopicDiscoveryEndpoints, WhcHigh, WhcHighInit, WhcLow, MaxQueuedRexmitBytes and ReadTimeout. Can't copy the full file, don't know why. It's explained here https://github.com/eclipse-cyclonedds/cyclonedds/tree/8638e1fa1e8ae9f964c91ad4763653702b8f91e0?tab=readme-ov-file#run-time-configuration