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Vuk-SFL
0ffc7f0f8a
* feat(zenoh): add support for configuring zenoh publisher options Add zenoh parameters for common default options for all publishers. Options exposed are reliability, priority, congestion control and is_express Allow override of common publisher options for specific publisher through its config: config fille supports additional row where multiple options can be specified with csv string Expose config options through zenoh config add publisher. Allow options per publisher to be specified for default config in zenoh/dds_topics.yaml * fix(zenoh): Put individual zenoh publisher config override feature under config option ZENOH_PUB_OPTION_OVERRIDE Enabled ZENOH_PUB_OPTION_OVERRIDE on targets with enough flash memory * fix(zenoh): added publication options for default publications in dds_topics.yaml Rare messages that are important to arive: set as reliable, enabled express and with blocking congesiton control Fast vehcile position messages that can impact control decision making: set as best enabled express and with drop congestion control * docs(zenoh) : added documentation for zenoh publisher options usage * docs(docs): Link to params --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>