nexus_network_config.yaml

# Mode of Zenoh bridge, specified as either 'client' or 'peer'.
# Use 'client' when there is an available Zenoh router, otherwise
# use 'peer' for a distributed system.
mode: peer
# When true, discovery info is forwarded to the remote plugins/bridges
forward_discovery: false
# When true, activates a REST API used to administer Zenoh Bridge configurations
enable_rest_api: true
# Additional endpoints to allow, these could be endpoints not defined in REDF but are necessary for lifecycle transitions
add_allowed_endpoints: ["/list_workcells", "/.*/workcell_state", "/.*/is_task_doable", "/.*/request", "/.*/queue_task", "/.*/remove_pending_task", "/register_workcell", "/register_transporter", ".*/available", ".*/transport", "/estop", "/.*/pause", "/.*/get_state", "/.*/change_state", "/.*/signal"]

system_orchestrators:
  - ros_namespace: system_orchestrator # ROS Namespace of the endpoints
    # ROS Domain ID
    domain_id: 14
    # Listening TCP Address of Zenoh bridge
    tcp_listen: ["0.0.0.0:7447"]
    # HTTP Port for the REST API
    rest_api_http_port: 8000

workcell_orchestrators:
  - ros_namespace: workcell_1
    domain_id: 15
    tcp_connect: ["0.0.0.0:7447"]
    rest_api_http_port: 8001
  - ros_namespace: workcell_2
    domain_id: 16
    tcp_connect: ["0.0.0.0:7447"]
    rest_api_http_port: 8002
  - ros_namespace: workcell_3
    domain_id: 17
    tcp_connect: ["0.0.0.0:7447"]
    rest_api_http_port: 8003