Zenoh Router - norlab-ulaval/Norlab_wiki GitHub Wiki

Basic router example

This is a clean example of a Zenoh router configuration file. While you can further optimize your connection, this setup should enable you to connect your remote computer to the robots successfully.

{
  mode: "router",

  connect: {

    timeout_ms: { router: -1, peer: -1, client: 0 },


    endpoints: 
      {
        router: ["tcp/192.168.4.2:7447"], /// Castor connection 
        peer: [],
        client: [],
    },

      
    exit_on_failure: { router: false, peer: false, client: true },
    retry: {
      period_init_ms: 1000,
      period_max_ms: 4000,
      period_increase_factor: 2,
    },
  },

  
  listen: {
    
    timeout_ms: -1,

    
    endpoints: [
      "tcp/[::]:7447"
    ],

    
    exit_on_failure: true,
    retry: {
      period_init_ms: 1000,
      period_max_ms: 4000,
      period_increase_factor: 2,
    },
  },
  open: {
    return_conditions: {
      connect_scouted: true,
      declares: true,
    },
  },
  scouting: {
    timeout: 3000,
    delay: 500,
    multicast: {
      
      enabled: false,
      address: "224.0.0.224:7446",
      interface: "auto", // If not set or set to "auto" the interface if picked automatically
      ttl: 1,
      autoconnect: { router: ["router"], peer: ["router", "peer"] },
      listen: true,
    },
    gossip: {
      enabled: true,
      multihop: false,
      autoconnect: { router: ["router"], peer: ["router", "peer"] },
    },
  },

  timestamping: {
    
    enabled: { router: true, peer: true, client: true },
    drop_future_timestamp: false,
  },

  queries_default_timeout: 100000,

  routing: {
    router: {
      
      peers_failover_brokering: false,
    },
    peer: {
      mode: "peer_to_peer",
    },
  },


  transport: {
    unicast: {
      open_timeout: 10000,
      accept_timeout: 10000,
      accept_pending: 100,
      max_sessions: 1000,
      max_links: 1,
     
      lowlatency: false,
      qos: {
        enabled: true,
      },
      compression: {
        enabled: true,
      },
    },
    
    multicast: {
      join_interval: 2500,
      max_sessions: 1000,
      
      qos: {
        enabled: false,
      },
      
      compression: {
        enabled: true,
      },
    },
    link: {
      
      tx: {
        
        sequence_number_resolution: "32bit",
        lease: 10000,
        
        keep_alive: 4,
        
        batch_size: 65535,
        queue: {
          
          size: {
            control: 1,
            real_time: 1,
            interactive_high: 1,
            interactive_low: 1,
            data_high: 2,
            data: 4,
            data_low: 4,
            background: 4,
          },
          congestion_control: {
            drop: {
              wait_before_drop: 100000,
              max_wait_before_drop_fragments: 5000000,
            },
            block: {
              wait_before_close: 5000000,
            },
          },
          batching: {
            enabled: true,
            time_limit: 1,
          },
        },
      },
      rx: {
        
        buffer_size: 65535,
        
        max_message_size: 1073741824,
      },
      tls: {
        
        root_ca_certificate: null,
        listen_private_key: null,
        listen_certificate: null,
        enable_mtls: false,
        connect_private_key: null,
        connect_certificate: null,
        
        verify_name_on_connect: true,
        
        close_link_on_expiration: false,
        
      },
    
    },
    
    shared_memory: {
     
      enabled: false,
    },
    auth: {
      
      usrpwd: {
        user: null,
        password: null,
        dictionary_file: null,
      },
      pubkey: {
        public_key_pem: null,
        private_key_pem: null,
        public_key_file: null,
        private_key_file: null,
        key_size: null,
        known_keys_file: null,
      },
    },
  },

  adminspace: {
    enabled: true,
    permissions: {
      read: true,
      write: false,
    },
  },

}

⚙️ Zenoh Router Configuration Reference

Node Mode & Connect/Listen/Open/Scouting/Timing/Routing Configuration

🔹 mode

Key	Type	Description	Example
mode	string	The node's mode: router, peer, client	"router"

🛠️ Connect Section

Key	Type	Description	Example
connect.timeout_ms	object/indexed	Timeout per mode (0 = no retry, -1 = infinite)	{ router: -1, peer: -1, client: 0 }
connect.endpoints	array/object	List of endpoints to connect	[ "tcp/10.10.10.10:7447" ]
connect.exit_on_failure	object	Whether to exit upon timeout	{ client: true }
connect.retry.period_init_ms	int	Initial retry delay (ms)	1000
connect.retry.period_max_ms	int	Max retry delay (ms)	4000
connect.retry.period_increase_factor	int	Backoff multiplier	2

🛎️ Listen Section

Key	Type	Description	Example
listen.timeout_ms	int/object	Timeout waiting for listen endpoints	0
listen.endpoints	array/object	List of endpoints to listen on	[ "tcp/[::]:7447" ]
listen.exit_on_failure	bool	Whether to exit upon failure	true
listen.retry.period_init_ms	int	Initial retry delay (ms)	1000
listen.retry.period_max_ms	int	Max retry delay (ms)	4000
listen.retry.period_increase_factor	int	Backoff multiplier	2

🟢 Open Section

Key	Type	Description	Example
open.return_conditions.connect_scouted	bool	Waits for scouted peers/routers before session open returns	true
open.return_conditions.declares	bool	Waits for initial declares from peers before session open returns	true

🔍 Scouting - Multicast

Key	Type	Description	Example
scouting.timeout	int	Timeout (ms) for scouting in client mode	3000
scouting.delay	int	Delay (ms) before peer operations	500
scouting.multicast.enabled	bool	Enable multicast scouting	false
scouting.multicast.address	string	Multicast socket address	"224.0.0.224:7446"
scouting.multicast.interface	string	Interface for multicast (auto = auto-select)	"auto"
scouting.multicast.ttl	int	Time‑to‑live for multicast packets	1
scouting.multicast.autoconnect	object	Which node types to autoconnect on discovery	{ peer: ["router","peer"] }
scouting.multicast.autoconnect_strategy	object	Strategy to avoid redundant autoconnections	{ router: { to_router:"always", to_peer:"always" } }
scouting.multicast.listen	bool	Listen/respond to multicast scout messages	true

🔍 Scouting - Gossip

Key	Type	Description	Example
scouting.gossip.enabled	bool	Enable gossip scouting	true
scouting.gossip.multihop	bool	Enable multihop gossip	false
scouting.gossip.target	object	Gossip targets per mode	{router:["router","peer"], peer:["router"]}
scouting.gossip.autoconnect	object	Which node types to autoconnect via gossip	{peer:["router","peer"]}
scouting.gossip.autoconnect_strategy	object	Strategy for gossip-based autoconnections	{router:{to_router:"always", to_peer:"always"}}

⏱️ Timestamping

Key	Type	Description	Example
timestamping.enabled	object	Enable timestamping per mode	{ router:true, peer:true, client:true }
timestamping.drop_future_timestamp	bool	Drop messages with future timestamps, or retimestamp if false	false

⏳ Queries

Key	Type	Description	Example
queries_default_timeout	int	Default timeout for queries (ms)	60000

🗺️ Routing

Key	Type	Description	Example
routing.router.peers_failover_brokering	bool	Forward data between peers not directly connected	false
routing.router.linkstate.transport_weights	array	(Optional) Define transport weights	[{dst_zid:"1",weight:"10"}]
routing.peer.mode	string	Routing strategy for peers	"peer_to_peer"
routing.peer.linkstate.transport_weights	array	(Optional) Define transport weights	[{dst_zid:"2",weight:"200"}]
routing.interests.timeout	int	Timeout waiting for interest declarations (ms)	10000

🛰️ Transport Configuration

🔹 transport.unicast

Parameter	Type	Default / Example	Description
open_timeout	Integer	60000	Timeout (ms) when opening a unicast link.
accept_timeout	Integer	60000	Timeout (ms) when accepting a unicast link.
accept_pending	Integer	10000	Max pending links during handshake.
max_sessions	Integer	10000	Max number of simultaneous transports per session.
max_links	Integer	1	Max incoming links admitted per transport.
lowlatency	Boolean	false	Enables low-latency mode (incompatible with qos).
qos.enabled	Boolean	true	Enables QoS prioritization.
compression.enabled	Boolean	false	Enables compression on unicast links.

🔹 transport.multicast

Parameter	Type	Default / Example	Description
join_interval	Integer	2500	JOIN message interval in ms.
max_sessions	Integer	1000	Max multicast sessions.
qos.enabled	Boolean	false	QoS for multicast (disabled by default).
compression.enabled	Boolean	false	Compression for multicast (disabled by default).

🔧 Link Parameters (transport.link)

🔸 transport.link.tx

Parameter	Type	Default / Example	Description
sequence_number_resolution	String	"32bit"	Sequence number resolution (8bit, 16bit, 32bit, 64bit).
lease	Integer	60000	Lease duration in ms.
keep_alive	Integer	2	Number of keep-alive messages per lease.
batch_size	Integer	65535	Max batch size in bytes.

transport.link.tx.queue.size

Priority Queue	Default	Description	Interval
control	2	Control message queue size.	1 and 16. Different values will result in an error.
real_time	2	Real-time message queue size.	1 and 16. Different values will result in an error.
interactive_high	2	High-priority interactive queue.	1 and 16. Different values will result in an error.
interactive_low	2	Low-priority interactive queue.	1 and 16. Different values will result in an error.
data_high	2	High-priority data queue.	1 and 16. Different values will result in an error.
data	2	Default data queue.	1 and 16. Different values will result in an error.
data_low	2	Low-priority data queue.	1 and 16. Different values will result in an error.
background	2	Background queue.	1 and 16. Different values will result in an error.

transport.link.tx.queue.congestion_control

Parameter	Type	Value	Description
drop.wait_before_drop	Integer	1000	Wait (μs) before dropping a droppable message.
drop.max_wait_before_drop_fragments	Integer	50000	Max wait (μs) before dropping multi-fragment messages.
block.wait_before_close	Integer	5000000	Max wait (μs) before closing session if blocked.

transport.link.tx.queue.batching

Parameter	Type	Value	Description
enabled	Boolean	true	Enables adaptive batching.
time_limit	Integer	1	Max retention time (ms) for batching.

transport.link.tx.queue.allocation

Parameter	Type	Value	Description
mode	String	"lazy"	Allocation strategy: lazy or init.

🔸 transport.link.rx

Parameter	Type	Default / Example	Description
buffer_size	Integer	65535	RX buffer size in bytes.
max_message_size	Integer	1073741824	Max defragmented message size in bytes (default: 1GiB).

🔐 TLS Configuration (transport.link.tls)

Parameter	Type	Default / Example	Description
root_ca_certificate	Path	null	Root CA cert path.
listen_private_key	Path	null	Private key path for listeners.
listen_certificate	Path	null	Certificate path for listeners.
connect_private_key	Path	null	Private key path for clients.
connect_certificate	Path	null	Certificate path for clients.
enable_mtls	Boolean	false	Enable mutual TLS authentication.
verify_name_on_connect	Boolean	true	Verifies hostname/DNS in cert.
close_link_on_expiration	Boolean	false	Auto-close expired TLS links.

🧠 Shared Memory (transport.shared_memory)

Parameter	Type	Default / Example	Description
enabled	Boolean	false	Enables SHM optimization (requires shared-memory feature).
mode	String	"lazy"	Init mode: lazy (on first use) or init (on session open).

🔐 Authentication (transport.auth)

🔸 usrpwd (User + Password)

Parameter	Type	Default	Description
user	String	null	Username.
password	String	null	Password.
dictionary_file	Path	null	Path to password dictionary file.

🔸 pubkey (Public Key)

Parameter	Type	Default	Description
public_key_pem	String	null	Inline public key.
private_key_pem	String	null	Inline private key.
public_key_file	Path	null	Public key file path.
private_key_file	Path	null	Private key file path.
key_size	Int	null	Key size.
known_keys_file	Path	null	File of trusted keys.

🛠️ Admin Space Configuration (adminspace)

Parameter	Type	Default / Example	Description
enabled	Boolean	true	Enables the admin space (⚠️ unstable feature).
permissions.read	Boolean	true	Allows reading admin space.
permissions.write	Boolean	false	Allows writing to admin space.