Enable Zenoh shared memory

Migration.md

@@ -60,6 +60,10 @@ release will remove the deprecated code.
    ```
    * [GitHub issue 773](https://github.com/gazebosim/gz-transport/issues/773)
 
+1. `ISubscriptionHandler::CreateGenericZenohSubscriber()` has been renamed to
+   `CreateLivelinessToken()`. The old name is kept as a deprecated forwarding
+   function and will be removed in a future release.
+
 ### Removed
 
 1. Removed zeromq from public header and CMake target. Specifically,

example/benchmark/bench.cc

@@ -353,6 +353,28 @@ class NoInputResponder
   private: gz::transport::Node node;
 };
 
+//////////////////////////////////////////////////
+/// \brief Log the transport configuration to a stream for reproducibility.
+/// Always prints all fields (with defaults) so .dat files are
+/// self-describing.
+/// \param[in] _stream Destination stream.
+void LogTransportConfig(std::ostream *_stream)
+{
+  const char *impl = std::getenv("GZ_TRANSPORT_IMPLEMENTATION");
+  const char *zenohConfig = std::getenv("ZENOH_CONFIG");
+  const char *configOverride =
+    std::getenv("GZ_TRANSPORT_ZENOH_CONFIG_OVERRIDE");
+
+  (*_stream) << "# Backend: " << (impl ? impl : "zeromq (default)")
+             << std::endl;
+  // Shared memory is governed by the Zenoh config
+  // (transport/shared_memory/*); record what may have changed it.
+  (*_stream) << "# Zenoh config: "
+             << (zenohConfig ? zenohConfig : "default") << std::endl;
+  (*_stream) << "# Config override: "
+             << (configOverride ? configOverride : "none") << std::endl;
+}
+
 /// \brief The PubTester is used to collect data on latency or throughput.
 /// Latency is the measure of time from message publication to message
 /// reception. Latency is calculated by dividing the complete roundtrip
@@ -555,24 +577,7 @@ class PubTester
                << std::endl;
 #endif
 
-    // Log transport configuration for reproducibility.
-    // Always print all fields (with defaults) so .dat files are self-describing.
-    const char *impl = std::getenv("GZ_TRANSPORT_IMPLEMENTATION");
-    const char *shm = std::getenv("GZ_TRANSPORT_ZENOH_SHM");
-    const char *shmPool = std::getenv("GZ_TRANSPORT_ZENOH_SHM_POOL_SIZE");
-    const char *shmThresh = std::getenv("GZ_TRANSPORT_ZENOH_SHM_THRESHOLD");
-    const char *cc = std::getenv("GZ_TRANSPORT_ZENOH_CONGESTION_CONTROL");
-    const char *txq = std::getenv("GZ_TRANSPORT_ZENOH_TX_QUEUE_SIZE");
-
-    (*_stream) << "# Backend: " << (impl ? impl : "zeromq (default)")
-               << std::endl;
-    (*_stream) << "# SHM: " << (shm ? shm : "enabled (default)") << std::endl;
-    (*_stream) << "# SHM pool: "
-               << (shmPool ? shmPool : "10485760 (default)") << std::endl;
-    (*_stream) << "# SHM threshold: "
-               << (shmThresh ? shmThresh : "131072 (default)") << std::endl;
-    (*_stream) << "# Congestion: " << (cc ? cc : "drop (default)") << std::endl;
-    (*_stream) << "# TX queue: " << (txq ? txq : "2 (default)") << std::endl;
+    LogTransportConfig(_stream);
     (*_stream) << "# Iterations: " << this->sentMsgs
                << "  Warmup: " << this->warmupIters << std::endl;
   }
@@ -1080,22 +1085,7 @@ class SrvTester
                << std::endl;
 #endif
 
-    const char *impl = std::getenv("GZ_TRANSPORT_IMPLEMENTATION");
-    const char *shm = std::getenv("GZ_TRANSPORT_ZENOH_SHM");
-    const char *shmPool = std::getenv("GZ_TRANSPORT_ZENOH_SHM_POOL_SIZE");
-    const char *shmThresh = std::getenv("GZ_TRANSPORT_ZENOH_SHM_THRESHOLD");
-    const char *cc = std::getenv("GZ_TRANSPORT_ZENOH_CONGESTION_CONTROL");
-    const char *txq = std::getenv("GZ_TRANSPORT_ZENOH_TX_QUEUE_SIZE");
-
-    (*_stream) << "# Backend: " << (impl ? impl : "zeromq (default)")
-               << std::endl;
-    (*_stream) << "# SHM: " << (shm ? shm : "enabled (default)") << std::endl;
-    (*_stream) << "# SHM pool: "
-               << (shmPool ? shmPool : "10485760 (default)") << std::endl;
-    (*_stream) << "# SHM threshold: "
-               << (shmThresh ? shmThresh : "131072 (default)") << std::endl;
-    (*_stream) << "# Congestion: " << (cc ? cc : "drop (default)") << std::endl;
-    (*_stream) << "# TX queue: " << (txq ? txq : "2 (default)") << std::endl;
+    LogTransportConfig(_stream);
     (*_stream) << "# Iterations: " << this->sentMsgs
                << "  Warmup: " << this->warmupIters << std::endl;
   }
@@ -1402,21 +1392,7 @@ class OneWaySrvTester
                << " " << unameData.version << " " << unameData.machine
                << std::endl;
 #endif
-    const char *impl = std::getenv("GZ_TRANSPORT_IMPLEMENTATION");
-    const char *shm = std::getenv("GZ_TRANSPORT_ZENOH_SHM");
-    const char *shmPool = std::getenv("GZ_TRANSPORT_ZENOH_SHM_POOL_SIZE");
-    const char *shmThresh = std::getenv("GZ_TRANSPORT_ZENOH_SHM_THRESHOLD");
-    const char *cc = std::getenv("GZ_TRANSPORT_ZENOH_CONGESTION_CONTROL");
-    const char *txq = std::getenv("GZ_TRANSPORT_ZENOH_TX_QUEUE_SIZE");
-    (*_stream) << "# Backend: " << (impl ? impl : "zeromq (default)")
-               << std::endl;
-    (*_stream) << "# SHM: " << (shm ? shm : "enabled (default)") << std::endl;
-    (*_stream) << "# SHM pool: "
-               << (shmPool ? shmPool : "10485760 (default)") << std::endl;
-    (*_stream) << "# SHM threshold: "
-               << (shmThresh ? shmThresh : "131072 (default)") << std::endl;
-    (*_stream) << "# Congestion: " << (cc ? cc : "drop (default)") << std::endl;
-    (*_stream) << "# TX queue: " << (txq ? txq : "2 (default)") << std::endl;
+    LogTransportConfig(_stream);
     (*_stream) << "# Iterations: " << this->sentMsgs
                << "  Warmup: " << this->warmupIters << std::endl;
   }
@@ -1652,21 +1628,7 @@ class NoInputSrvTester
                << " " << unameData.version << " " << unameData.machine
                << std::endl;
 #endif
-    const char *impl = std::getenv("GZ_TRANSPORT_IMPLEMENTATION");
-    const char *shm = std::getenv("GZ_TRANSPORT_ZENOH_SHM");
-    const char *shmPool = std::getenv("GZ_TRANSPORT_ZENOH_SHM_POOL_SIZE");
-    const char *shmThresh = std::getenv("GZ_TRANSPORT_ZENOH_SHM_THRESHOLD");
-    const char *cc = std::getenv("GZ_TRANSPORT_ZENOH_CONGESTION_CONTROL");
-    const char *txq = std::getenv("GZ_TRANSPORT_ZENOH_TX_QUEUE_SIZE");
-    (*_stream) << "# Backend: " << (impl ? impl : "zeromq (default)")
-               << std::endl;
-    (*_stream) << "# SHM: " << (shm ? shm : "enabled (default)") << std::endl;
-    (*_stream) << "# SHM pool: "
-               << (shmPool ? shmPool : "10485760 (default)") << std::endl;
-    (*_stream) << "# SHM threshold: "
-               << (shmThresh ? shmThresh : "131072 (default)") << std::endl;
-    (*_stream) << "# Congestion: " << (cc ? cc : "drop (default)") << std::endl;
-    (*_stream) << "# TX queue: " << (txq ? txq : "2 (default)") << std::endl;
+    LogTransportConfig(_stream);
     (*_stream) << "# Iterations: " << this->sentMsgs
                << "  Warmup: " << this->warmupIters << std::endl;
   }

example/benchmark/plot_benchmark.py

@@ -69,10 +69,12 @@
 # Per-configuration display style.  Order here determines legend order.
 # Wong colorblind-safe palette — distinguishable by hue, even in greyscale.
 STYLES: 'OrderedDict[str, dict]' = OrderedDict([
-    ('zenoh',
-     {'label': 'Zenoh',   'color': '#009E73'}),
     ('zeromq',
-     {'label': 'ZeroMQ',  'color': '#0072B2'}),
+     {'label': 'ZeroMQ',          'color': '#0072B2'}),
+    ('zenoh_no_shm',
+     {'label': 'Zenoh (SHM off)',  'color': '#D55E00'}),
+    ('zenoh_shm',
+     {'label': 'Zenoh (SHM)',      'color': '#009E73'}),
 ])
 
 

example/benchmark/run_benchmark.py

@@ -75,20 +75,37 @@
 #   clear: list of env var names to REMOVE
 CONFIGS = [
     {
-        'name': 'zenoh',
-        'description': 'Zenoh (default settings)',
+        'name': 'zeromq',
+        'description': 'ZeroMQ (default HWM=1000)',
+        'env': {
+            'GZ_TRANSPORT_IMPLEMENTATION': 'zeromq',
+        },
+        'clear': [
+            'GZ_TRANSPORT_ZENOH_CONFIG_OVERRIDE',
+        ],
+    },
+    {
+        # Disables Zenoh's shared memory subsystem entirely, including its
+        # own transport optimization, so this is a pure network baseline
+        # rather than what a default gz-transport build does.
+        'name': 'zenoh_no_shm',
+        'description': 'Zenoh with shared memory disabled (network only)',
         'env': {
             'GZ_TRANSPORT_IMPLEMENTATION': 'zenoh',
+            'GZ_TRANSPORT_ZENOH_CONFIG_OVERRIDE':
+                'transport/shared_memory/enabled=false',
         },
         'clear': [],
     },
     {
-        'name': 'zeromq',
-        'description': 'ZeroMQ (default HWM=1000)',
+        'name': 'zenoh_shm',
+        'description': 'Zenoh with shared memory (gz-transport defaults)',
         'env': {
-            'GZ_TRANSPORT_IMPLEMENTATION': 'zeromq',
+            'GZ_TRANSPORT_IMPLEMENTATION': 'zenoh',
         },
-        'clear': [],
+        'clear': [
+            'GZ_TRANSPORT_ZENOH_CONFIG_OVERRIDE',
+        ],
     },
 ]