* fix(zenoh): generate the topic catalog into the build tree
Kconfig.topics is fully generated from the uORB message set, but the build
regenerated it into the source tree at configure time. Building any Zenoh
board therefore left the working tree dirty whenever the message set had
changed since the file was last committed (the catalog is board-config
dependent, so it drifts easily).
Generate the catalog into the build directory in cmake/kconfig.cmake, before
Kconfig is parsed, and source it from there via ZENOH_KCONFIG_TOPICS. It is
generated board-independently from every message so it no longer depends on
the msg-gating Kconfig symbols it is sourced alongside; the per-board factory
still gates which topics are actually compiled. Drop the committed catalog.
* chore(zenoh): bump zenoh-pico to the build-tree header fix
Moves zenoh-pico's generated config.h/zenoh-pico.h/library.json out of its
own source tree and into the build tree, so building no longer dirties the
submodule.
Gated on PX4/zenoh-pico#2: the pointer currently references the fix branch on
a fork and must be moved to the merged commit before this is ready.
* bump zenoh-pico
* feat(zenoh): add support for configuring zenoh publisher options
Add zenoh parameters for common default options for all publishers. Options exposed are reliability, priority, congestion control and is_express
Allow override of common publisher options for specific publisher through its config: config fille supports additional row where multiple options can be specified with csv string
Expose config options through zenoh config add publisher.
Allow options per publisher to be specified for default config in zenoh/dds_topics.yaml
* fix(zenoh): Put individual zenoh publisher config override feature under config option ZENOH_PUB_OPTION_OVERRIDE
Enabled ZENOH_PUB_OPTION_OVERRIDE on targets with enough flash memory
* fix(zenoh): added publication options for default publications in dds_topics.yaml
Rare messages that are important to arive: set as reliable, enabled express and with blocking congesiton control
Fast vehcile position messages that can impact control decision making: set as best enabled express and with drop congestion control
* docs(zenoh) : added documentation for zenoh publisher options usage
* docs(docs): Link to params
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Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
