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Make reliable topics use blocking congestion control #547

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Make reliable topics use blocking congestion control #547

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6 changes: 2 additions & 4 deletions rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -120,14 +120,12 @@ std::shared_ptr<PublisherData> PublisherData::make(
zenoh::KeyExpr pub_ke(entity->topic_info()->topic_keyexpr_);
// Set congestion_control to BLOCK if appropriate.
auto pub_opts = zenoh::Session::PublisherOptions::create_default();
pub_opts.congestion_control = Z_CONGESTION_CONTROL_DROP;
if (adapted_qos_profile.reliability == RMW_QOS_POLICY_RELIABILITY_RELIABLE) {
pub_opts.reliability = Z_RELIABILITY_RELIABLE;
if (adapted_qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
pub_opts.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
}
pub_opts.congestion_control = Z_CONGESTION_CONTROL_BLOCK;
} else {
pub_opts.reliability = Z_RELIABILITY_BEST_EFFORT;
pub_opts.congestion_control = Z_CONGESTION_CONTROL_DROP;
}
adv_pub_opts.publisher_options = pub_opts;

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