perf: Scope liveliness subscription by namespace to eliminate N² broa…#696
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cmeng-gao wants to merge 1 commit intoeclipse-zenoh:mainfrom
Open
perf: Scope liveliness subscription by namespace to eliminate N² broa…#696cmeng-gao wants to merge 1 commit intoeclipse-zenoh:mainfrom
cmeng-gao wants to merge 1 commit intoeclipse-zenoh:mainfrom
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…dcast When multiple bridges with different namespaces connect to the same router, each bridge was subscribing to all liveliness tokens (@/*/@ros2_lv/**), causing O(N²) control plane overhead as the router forwarded every token to every client. Now, bridges with a configured namespace subscribe only to tokens matching their namespace prefix (e.g., @/*/@ros2_lv/*/ns1§$*/**), leveraging the router's per-subscription interest matching to filter at the source. Bridges with default namespace "/" retain the original behavior for backward compatibility. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Summary
each bridge subscribes to all liveliness tokens (
@/*/@ros2_lv/**), causingO(N²) control plane overhead as the router forwards every token to every client.
namespace (e.g.,
/bot1) now subscribe only to@/*/@ros2_lv/*/bot1§$*/**,leveraging the router's per-subscription interest matching to filter at the source.
for backward compatibility.
Test plan