nexus_network_config.yaml

# Mode of Zenoh bridge, specified as either 'client' or 'peer'.
# Use 'client' when there is an available Zenoh router, otherwise
# use 'peer' for a distributed system.
mode: peer
# When true, activates a REST API used to administer Zenoh Bridge configurations
enable_rest_api: true

system_orchestrators:
  - namespace: system_orchestrator # ROS Namespace of the endpoints
    # ROS Domain ID
    domain_id: 0
    # Listening TCP Address of Zenoh bridge
    tcp_listen: ["0.0.0.0:7447"]
    # HTTP Port for the REST API
    rest_api_http_port: 8000
    allow:
      publishers: []
      # TODO(luca) check if we need estop
      subscribers: ["/estop", "/.*/workcell_state"]
      service_servers: ["/list_workcells", "/register_workcell", "/register_transporter"]
      # TODO(luca) check if transporter needs available endpoint
      service_clients: ["/.*/queue_task", "/.*/remove_pending_task", "/.*/pause", "/.*/signal", "/.*/get_state", "/.*/change_state", "/.*/is_task_doable"]
      action_servers: []
      # TODO(luca) check if we really need transporter client
      action_clients: ["/.*/request", "/.*/transport"]
    queries_timeout:
      default: 600.0


workcell_orchestrators:
  - namespace: workcell_1
    domain_id: 1
    tcp_connect: ["0.0.0.0:7447"]
    rest_api_http_port: 8001
    allow:
      publishers: ["/workcell_1/workcell_state"]
      subscribers: []
      service_servers: ["/workcell_1/is_task_doable", "/workcell_1/queue_task", "/workcell_1/remove_pending_task", "/workcell_1/get_state", "/workcell_1/change_state", "/workcell_1/signal", "/workcell_1/pause"]
      service_clients: ["/register_workcell"]
      action_servers: ["/workcell_1/request"]
      action_clients: []
    queries_timeout:
      default: 600.0
  - namespace: workcell_2
    domain_id: 2
    tcp_connect: ["0.0.0.0:7447"]
    rest_api_http_port: 8002
    allow:
      publishers: ["/workcell_2/workcell_state"]
      subscribers: []
      service_servers: ["/workcell_2/is_task_doable", "/workcell_2/queue_task", "/workcell_2/remove_pending_task", "/workcell_2/get_state", "/workcell_2/change_state", "/workcell_2/signal", "/workcell_2/pause"]
      service_clients: ["/register_workcell"]
      action_servers: ["/workcell_2/request"]
      action_clients: []
    queries_timeout:
      default: 600.0
  - namespace: workcell_3
    domain_id: 3
    tcp_connect: ["0.0.0.0:7447"]
    rest_api_http_port: 8003
    allow:
      publishers: ["workcell_3/workcell_state"]
      subscribers: []
      service_servers: ["workcell_3/is_task_doable", "workcell_3/queue_task", "workcell_3/remove_pending_task", "workcell_3/get_state", "workcell_3/change_state"]
      service_clients: ["/register_workcell"]
      action_servers: ["workcell_3/request"]
      action_clients: []
    queries_timeout:
      default: 600.0