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Published 20 hours ago • verified publisher icon eclipse-zenoh

[Bug] Remote bridge constantly retires writers on UDP

Open ciandonovan opened this issue 1 year ago • 4 comments

Describe the bug

No issues with TCP, but with the exact same configuration with UDP I get about a second or two of streaming, followed by a barrage of messages saying "Remote bridge {GUID} retires {Publisher/Service/Action/etc.}" and then "Route Publisher (ROS:/{TOPIC} -> Zenoh:{TOPIC}) removed"

Connectivity isn't an issue since just replacing udp with tcp in the command argument everything works fine.

Using CycloneDDS configured on the localhost only, and loopback multicast force-enabled.

For extra context, running around 60 nodes with 130 topics on a single PC, a lot from the Nav2 stack. WiFi bandwidth at least 150 Mbit/s. When streaming over TCP, around 80 Mbit/s down. Running in Podman OCI containers for convenience, but previously reproduced outside of containers too. Devices both on the same LAN.

To reproduce

  1. Start Zenoh bridge with config -l udp/0.0.0.0:7447
  2. Run client/peer with config -e udp/{ BRIDGE_IP}:7447

System info

  • Platform: Official Open Source Robotics Foundation Docker image (Humble) running on Debian 12 host.
  • CPU: AMD Ryzen Embedded V2718 with Radeon Graphics
  • Zenoh verison/commit: 2c52d0b32954e66c7759e994511695206b21de65

ciandonovan avatar Dec 20 '23 13:12 ciandonovan