[Bug] configuration error: unknown field id - 1.0.0~alpha.5-1

[martincerven]

Describe the bug

Latest binary zenoh-bridge-ros2dds produces unknown field id error with config that works with sudo apt install zenoh-bridge-ros2dds=0.11.0-stable version.

{
    mode: "peer",
    listen: { endpoints: ["tcp/10.42.0.1:7447"] },
    plugins: {
      ros2dds: {
        id: "bot1",
        namespace: "/bot1",
        deny: {
          publishers: [".*/_internal/.*"],
          subscribers: [".*/_internal/.*"],
          service_servers: [".*/_internal/.*"],
          service_clients: [".*/_internal/.*"],
          action_servers: [".*/_internal/.*"],
          action_clients: [".*/_internal/.*"]
        },
        pub_max_frequencies: [
          ".*/image_raw=10",
          ".*/camera_info=10",
          ".*/overlay=10",
          ".*/points=5",

        ],
      },
      rest: { http_port: 8000 }
    }
  }

To reproduce

1. zenoh-bridge-ros2dds -c path_to_config
2. see error:

2024-08-01T07:22:21.441317Z  INFO main ThreadId(01) zenoh_bridge_ros2dds: zenoh-bridge-ros2dds v1.0.0-alpha.5
2024-08-01T07:22:21.441838Z  INFO main ThreadId(01) zenoh_bridge_ros2dds: Zenoh Config { id: 5ca1735fcb6ebfeed4ac52bc888bf07f, metadata: Null, mode: Some(Peer), connect: ConnectConfig { timeout_ms: None, endpoints: Unique([]), exit_on_failure: None, retry: None }, listen: ListenConfig { timeout_ms: None, endpoints: Unique([tcp/10.42.0.1:7447]), exit_on_failure: None, retry: None }, scouting: ScoutingConf { timeout: None, delay: None, multicast: ScoutingMulticastConf { enabled: None, address: None, interface: None, ttl: None, autoconnect: None, listen: None }, gossip: GossipConf { enabled: None, multihop: None, autoconnect: None } }, timestamping: TimestampingConf { enabled: Some(Unique(true)), drop_future_timestamp: None }, queries_default_timeout: None, routing: RoutingConf { router: RouterRoutingConf { peers_failover_brokering: None }, peer: PeerRoutingConf { mode: None } }, aggregation: AggregationConf { subscribers: [], publishers: [] }, transport: TransportConf { unicast: TransportUnicastConf { accept_timeout: 10000, accept_pending: 100, max_sessions: 1000, max_links: 1, lowlatency: false, qos: QoSUnicastConf { enabled: true }, compression: CompressionUnicastConf { enabled: false } }, multicast: TransportMulticastConf { join_interval: Some(2500), max_sessions: Some(1000), qos: QoSMulticastConf { enabled: false }, compression: CompressionMulticastConf { enabled: false } }, link: TransportLinkConf { protocols: None, tx: LinkTxConf { sequence_number_resolution: U32, lease: 10000, keep_alive: 4, batch_size: 65535, batching: true, queue: QueueConf { size: QueueSizeConf { control: 1, real_time: 1, interactive_high: 1, interactive_low: 1, data_high: 2, data: 4, data_low: 2, background: 1 }, congestion_control: CongestionControlConf { wait_before_drop: 1000 }, backoff: 100 }, threads: 2 }, rx: LinkRxConf { buffer_size: 65535, max_message_size: 1073741824 }, tls: TLSConf { root_ca_certificate: None, server_private_key: None, server_certificate: None, client_auth: None, client_private_key: None, client_certificate: None, server_name_verification: None, root_ca_certificate_base64: None, server_private_key_base64: None, server_certificate_base64: None, client_private_key_base64: None, client_certificate_base64: None }, unixpipe: UnixPipeConf { file_access_mask: None } }, shared_memory: ShmConf { enabled: false }, auth: AuthConf { usrpwd: UsrPwdConf { user: None, password: None, dictionary_file: None }, pubkey: PubKeyConf { public_key_pem: None, private_key_pem: None, public_key_file: None, private_key_file: None, key_size: None, known_keys_file: None } } }, adminspace: AdminSpaceConf { enabled: true, permissions: PermissionsConf { read: true, write: false } }, downsampling: [], access_control: AclConfig { enabled: false, default_permission: Deny, rules: None, subjects: None, policies: None }, plugins_loading: PluginsLoading { enabled: true, search_dirs: None }, plugins: Object {"rest": Object {"http_port": Number(8000)}, "ros2dds": Object {"deny": Object {"action_clients": Array [String(".*/_internal/.*")], "action_servers": Array [String(".*/_internal/.*")], "publishers": Array [String(".*/_internal/.*")], "service_clients": Array [String(".*/_internal/.*")], "service_servers": Array [String(".*/_internal/.*")], "subscribers": Array [String(".*/_internal/.*")]}, "domain": Number(42), "id": String("bot1"), "namespace": String("/bot1"), "pub_max_frequencies": Array [String(".*/image_raw=10"), String(".*/camera_info=10"), String(".*/overlay=10"), String(".*/points=5")], "ros_localhost_only": Bool(false)}} }
2024-08-01T07:22:21.441967Z  INFO main ThreadId(01) zenoh::net::runtime: Using ZID: 5ca1735fcb6ebfeed4ac52bc888bf07f
2024-08-01T07:22:21.442337Z  INFO main ThreadId(01) zenoh::api::loader: Starting required plugin "rest"
2024-08-01T07:22:21.443422Z  INFO main ThreadId(01) zenoh::api::loader: Successfully started plugin rest from "__static_lib__"
2024-08-01T07:22:21.443433Z  INFO main ThreadId(01) zenoh::api::loader: Finished loading plugins
2024-08-01T07:22:21.443439Z  INFO main ThreadId(01) zenoh::api::loader: Starting required plugin "ros2dds"
thread 'main' panicked at /cargo/registry/src/index.crates.io-6f17d22bba15001f/zenoh-1.0.0-alpha.5/src/api/loader.rs:96:21:
Plugin "ros2dds" failed to start: Plugin `ros2dds` configuration error: unknown field `id` at zenoh-plugin-ros2dds/src/lib.rs:128.
stack backtrace:
   0: rust_begin_unwind
             at /rustc/82e1608dfa6e0b5569232559e3d385fea5a93112/library/std/src/panicking.rs:645:5
   1: core::panicking::panic_fmt
             at /rustc/82e1608dfa6e0b5569232559e3d385fea5a93112/library/core/src/panicking.rs:72:14
   2: zenoh::net::runtime::RuntimeBuilder::build::{{closure}}
   3: zenoh_bridge_ros2dds::main::main::{{closure}}
   4: zenoh_bridge_ros2dds::main
note: Some details are omitted, run with `RUST_BACKTRACE=full` for a verbose backtrace.
Aborted (core dumped)

System info

Ubuntu 22.04
Humble
CycloneDDS
Nvidia Jetson Orin devices
Wifi hotspot

[evshary]

Hi @martincerven I think this is intended in this PR
You could take a look at the related issue for more detail.

[martincerven]

Yeah, but that's the dev branch, the example config in main still mentions id.

[evshary]

Yeah, but that's the dev branch, the example config in main still mentions id.

So you're using 0.11.0? Because I saw the log you provided is using 1.0.0

2024-08-01T07:22:21.441317Z  INFO main ThreadId(01) zenoh_bridge_ros2dds: zenoh-bridge-ros2dds v1.0.0-alpha.5

[martincerven]

I'm comparing 0.11.0 which is version that worked for me, with latest binary one that I get with apt install , which is presumably build from main branch, and as you correctly saw in the logs, two weeks ago it was zenoh-bridge-ros2dds v1.0.0-alpha.5

So you say that id variable was removed in dev branch,
And I'm saying that id is still there in main branch in example config, which is branch that is presumably used for building binaries for debian packages.

I don't know if that PR was merged or not in main, but one of files changed was example config, and main still has the old config with id variable.

@JEnoch Was the id removed from main without updating example config?

[JEnoch]

No, the id was removed only in dev/1.0.0 branch for the reasons explained in eclipse-zenoh/zenoh#1190. The example config has been updated in this branch.
It has not yet been merged to main branch.

However as we do releases of 1.0.0-alpha.X versions from dev/1.0.0 branch, the Debian packages are also made available in our repo. Unfortunately Debian considers 1.0.0-alpha.X > 0.11.Y and thus installs a 1.0.0-alpha.X by default.
Hence, you get zenoh-bridge-ros2dds v1.0.0-alpha.5 in your logs.

Sorry for the inconvenience. But you'll have to remove this id anyway when upgrading to 1.0.0.

[JEnoch]

I'm closing this issue since we won't fix it.
You can define you're own id for the bridge as an hexadecimal string in the Zenoh config part. e.g.:

{
  plugins: {
    ros2dds: {
      // ...
    }
  },
  
  /// The identifier (as unsigned 128bit integer in hexadecimal lowercase - leading zeros are not accepted)
  /// that zenoh runtime will use.
  /// If not set, a random unsigned 128bit integer will be used.
  /// WARNING: this id must be unique in your zenoh network.
  id: "1234567890abcdef",
}

#234 is completing this change, remapping the -i/--id option to the Zenoh ID config.