Update router and session config

[evshary]

The default Zenoh configuration has been changed a little bit.
Let's have the sync. It helps when we need to do a comparison.

[Yadunund]

@evshary thanks for the PR. Do you mind running tests across rcl, rcl_lifecycle, rcl_action, test_communication, test_quality_of_service, rclcpp, rclcpp_components, rclcpp_lifecycle, rclcpp_action, and rclpy and reporting on the results? Just want to make sure the changes here don't cause any regressions (unlikely).

[evshary]

Sure. Those are the results on my local machine

• rclcpp_lifecycle: 6 - test_lifecycle_node (Failed)
• rclc_parameter: 1 - rclc_parameter_test (Failed)
• rclcpp: 44 - test_node_interfaces__node_graph (Failed)
• rclcpp: 86 - test_time (Timeout)
• rclcpp_action: 1 - test_client (Failed)

[Yadunund]

Sure. Those are the results on my local machine

• rclcpp_lifecycle: 6 - test_lifecycle_node (Failed)
• rclc_parameter: 1 - rclc_parameter_test (Failed)
• rclcpp: 44 - test_node_interfaces__node_graph (Failed)
• rclcpp: 86 - test_time (Timeout)
• rclcpp_action: 1 - test_client (Failed)

Hmm this is a bit concerning given that the only test that was failing before was rclcpp_action/test_client.

[evshary]

I'm not sure but some seem to be flaky on my side
2nd time:

• rclc_parameter: 1 - rclc_parameter_test (Failed)
• rclcpp: 23 - test_clock (Failed)
• rclcpp: 86 - test_time (Timeout)
• rclcpp_action: 1 - test_client (Failed)

BTW, I just found that I was using the latest rolling binary. Will switch to your repos file and test again.

[evshary]

Okay, let me summarize the result:

The errors always happen

• rclc_parameter: 1 - rclc_parameter_test (Failed)
• rclcpp_action: 1 - test_client (Failed)

Flaky one:

• rclcpp_lifecycle: 6 - test_lifecycle_node (Failed)
• rclcpp: 44 - test_node_interfaces__node_graph (Failed)
• test_rclcpp: 65 - test_n_nodes__rmw_zenoh_cpp (Failed)

As for these two errors, they are affected by test_client and will not appear if we disable test_client, so we can ignore them (Thanks for the info from @YuanYuYuan)

• rclcpp: 23 - test_clock (Failed)
• rclcpp: 86 - test_time (Timeout)

[Yadunund]

I synced with latest rolling and ran the same tests. Apart from rclcpp_action/test_client which is a known issue, the only other flaky test was test_rclcpp/test_n_nodes__rmw_zenoh_cpp which can be reproduced even on rolling if run enough times. In my experience adding --retest-until-fail 10 helps us see the failure.

colcon test --packages-select test_rclcpp --ctest-args -R test_n_nodes --event-handlers console_direct+ --retest-until-fail 10

[Yadunund]

@Mergifyio backport jazzy humble

[mergify]

backport jazzy humble

✅ Backports have been created

• #413 Update router and session config (backport #396) has been created for branch jazzy
• #414 Update router and session config (backport #396) has been created for branch humble