Plugin Support for RMW_Zenoh zenohd

[S3ckShUn21]

This may be a silly question, but does the custom zenohd provided by this codebase load plugins during the router runtime build step?

I've been trying to load the REST API plugin (compiled with the same git commit from the Rust codebase) to no avail.

I've done some cursory looks around the cpp, c, and rs codebases to try and understand where plugins are being loaded. I see where they're being loaded in the Rust implementation of zenohd. But I haven't found yet if/where that's happening with this zenohd impl.

If it doesn't exist, should I try and add that functionality in to this custom zenohd? I see that a couple people have spent some time looking into using the upstream version of zenohd through the zenoh-c build step.

[clalancette]

This may be a silly question, but does the custom zenohd provided by this codebase load plugins during the router runtime build step?

No, it does not. That's one of the big downsides to rmw_zenohd.

I see that a couple people have spent some time looking into using the upstream version of zenohd through the zenoh-c build step.

I think we should attempt to use the upstream zenohd, rather than slowly replicating its functionality here. I don't know if that is now easier or harder with the switch to zenoh_cpp_vendor, but I still think it should be possible somehow.

[S3ckShUn21]

Thanks for the quick reply. I'll look into the work being done to move to the upstream zenohd