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perf: Scope liveliness subscription by namespace to eliminate N² broa… #696

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perf: Scope liveliness subscription by namespace to eliminate N² broa… #696

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22 changes: 15 additions & 7 deletions zenoh-plugin-ros2dds/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -414,13 +414,21 @@ enum AdminRef {

impl ROS2PluginRuntime {
async fn run(&mut self) {
// Subscribe to all liveliness info from other ROS2 plugins
let ke_liveliness_all = keformat!(
ke_liveliness_all::formatter(),
zenoh_id = "*",
remaining = "**"
)
.unwrap();
// Subscribe to liveliness info from other ROS2 plugins.
// If a namespace is configured, only subscribe to announcements matching this namespace
// to avoid receiving (and creating routes for) announcements from other namespaces.
let ke_liveliness_all = if self.config.namespace != "/" {
let ns_prefix = &self.config.namespace[1..]; // strip leading '/'
OwnedKeyExpr::try_from(format!("@/*/@ros2_lv/*/{}§$*/**", ns_prefix))
.expect("Failed to build namespace-scoped liveliness key expression")
} else {
keformat!(
ke_liveliness_all::formatter(),
zenoh_id = "*",
remaining = "**"
)
.unwrap()
};
let liveliness_subscriber = self
.zsession
.liveliness()
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