Configuration surface
One fact can be spelled several ways. Only one of them is a place to make a decision; the rest carry that decision across a layer boundary. This page separates the two, because a list that does not is a list of nine ways to set a locator (issue 0934).
Every symbol on this page is one a user may set. Kconfig says so
itself: each carries a PROMPT, which is what a prompt means. An earlier
draft split these into public and carrier by asking who read them, and got
the layer wrong — cmake reading ${CONFIG_X} to emit ZPICO_X=<value> is
cmake CARRYING the choice, not owning it.
The real carriers are one layer down and are NOT Kconfig symbols: the
ZPICO_* / NROS_* environment variables, the -D cache variables and
the compile definitions this page’s symbols feed. Setting one of those by
hand bypasses the question Kconfig asked.
The evidence column is where each value is consumed, so a symbol with no
reader stands out: a prompt asking a question whose answer is discarded is
worse than no prompt.
131 Kconfig symbols — 61 settable, 1 provided for application code, 69 derived, 0 dead.
Facts with more than one spelling
Where a decision has an authority OUTSIDE Kconfig, that authority is the place to set it and these symbols carry it.
RMW backend
Set it here: [system].rmw in the bringup’s system.toml
| symbol | default | class | evidence |
|---|---|---|---|
CONFIG_NROS_RMW_ZENOH | — | public | cmake, rust-source, kconfig select/depends |
CONFIG_NROS_RMW_XRCE | — | public | c-source, cmake, rust-source |
CONFIG_NROS_RMW_CYCLONEDDS | — | public | cmake, rust-source, kconfig select/depends |
nano_ros_workspace(BACKEND …) and -DNROS_RMW are the cmake carriers. cmake already warns that BACKEND silently beats the cache var; nothing yet compares either against [system].rmw.
ROS domain id
Set it here: [system].domain_id in system.toml
| symbol | default | class | evidence |
|---|---|---|---|
CONFIG_NROS_DOMAIN_ID | 0 | public | forwarded-to-cargo, c-source, cmake, rust-source, kconfig select/depends |
CONFIG_NROS_CYCLONE_DOMAIN_ID | NROS_DOMAIN_ID | public | c-source, cmake, rust-source |
CONFIG_NROS_CYCLONE_DOMAIN_ID defaults FROM NROS_DOMAIN_ID — the one derivation edge in this cluster. Pinning it to a literal is the phase-180 split-brain (CLAUDE.md).
Router / agent endpoint
Set it here: [system].locator in system.toml
| symbol | default | class | evidence |
|---|---|---|---|
CONFIG_NROS_ZENOH_LOCATOR | tcp/127.0.0.1:7447 | public | c-source, cmake, rust-source |
CONFIG_NROS_XRCE_AGENT_ADDR | 127.0.0.1 | public | c-source, rust-source |
CONFIG_NROS_XRCE_AGENT_PORT | 2018 | public | c-source, rust-source |
Zephyr is exempt from the cmake precedence chain by design (see the exemption comments in NanoRosEntry.cmake — no line ref, they move), so the Kconfig spelling is the carrier there rather than an override.
Executor sizing
Set it here: environment knobs at build time (see the pool inventory)
| symbol | default | class | evidence |
|---|---|---|---|
CONFIG_NROS_EXECUTOR_MAX_CBS | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_EXECUTOR_MAX_SC | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_EXECUTOR_MAX_NODES | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_EXECUTOR_ARENA_SIZE | 0 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_EXECUTOR_MAX_MONITORS | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_EXECUTOR_MAX_AGE_MONITORS | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_EXECUTOR_MAX_SHUTDOWN_CBS | 2 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_EXECUTOR_ACTION_CLIENTS | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_SUBSCRIPTION_BUFFER_SIZE | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_PARAM_SERVICE_BUFFER_SIZE | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_PARAMETERS | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_PARAM_NAME_LEN | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_STRING_VALUE_LEN | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_ARRAY_LEN | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_BYTE_ARRAY_LEN | -1 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_PARAM_DESCRIPTION_LEN | 256 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_PARAM_CONSTRAINTS_LEN | 0 | derived | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_PARAM_EVENTS_DEPTH | 1 | derived | forwarded-to-cargo, cmake, rust-source |
On Zephyr the Kconfig spelling IS how a user sets these — it is a carrier only in the sense that the env var is what the build script reads. Issue 0460 is what happens when the bridge breaks.
Public — set these
Read by compiled code or forwarded to a build script. On Zephyr the
CONFIG_ spelling IS the way to state these; the env var is the carrier.
| symbol | default | evidence |
|---|---|---|
CONFIG_NROS_ARENA_EXHAUSTION_IS_FATAL | y if NROS_BOOT_REPORT | cmake, rust-source |
CONFIG_NROS_BOOT_REPORT | y if ARCH_POSIX | c-source, cmake, rust-source, kconfig select/depends |
CONFIG_NROS_CAPABILITY_LIFECYCLE | — | rust-source, kconfig select/depends |
CONFIG_NROS_CAPABILITY_PARAM_SERVICES | — | cmake, rust-source, kconfig select/depends |
CONFIG_NROS_CODEGEN_TOOL | — | cmake |
CONFIG_NROS_CPP_API | — | cmake, rust-source, kconfig select/depends |
CONFIG_NROS_CYCLONE_CONFIG_XML | — | c-source |
CONFIG_NROS_C_API | — | cmake, rust-source |
CONFIG_NROS_FAULT_LOG | n | cmake, kconfig select/depends |
CONFIG_NROS_FAULT_LOG_FLASH | n | c-source |
CONFIG_NROS_HEAP_EXHAUSTION_IS_FATAL | y if NROS_BOOT_REPORT | c-source, rust-source |
CONFIG_NROS_MONITOR_ARM_GRACE_MS | 0 | forwarded-to-cargo, c-source, cmake, rust-source |
CONFIG_NROS_MONITOR_ARM_ON_CALL | — | c-source, cmake, rust-source |
CONFIG_NROS_PARAM_STORE | — | cmake, rust-source, kconfig select/depends |
CONFIG_NROS_RUST_API | NROS_RMW_ZENOH | cmake, kconfig select/depends |
CONFIG_NROS_SNTP_EPOCH | — | c-source, rust-source, kconfig select/depends |
CONFIG_NROS_SNTP_SERVER | 10.0.2.2 | c-source |
CONFIG_NROS_SNTP_TIMEOUT_MS | 3000 | c-source |
CONFIG_NROS_TRACE_CALLBACKS | — | cmake, kconfig select/depends |
CONFIG_NROS_TRACE_TAKES | — | c-source, cmake, rust-source |
CONFIG_NROS_TRACE_TIMER_EVERY | 1 | forwarded-to-cargo, c-source, cmake, rust-source |
CONFIG_NROS_TRANSPORT_SERIAL | — | kconfig select/depends |
CONFIG_NROS_VIOLATION_DRAIN_REPORT | — | c-source, cmake, rust-source |
CONFIG_NROS_ZENOH_AUTO_RECONNECT | y | cmake |
CONFIG_NROS_ZENOH_LEASE_FACTOR | 3 | c-define, cmake |
CONFIG_NROS_ZENOH_LEASE_MS | 60000 | c-define, cmake |
CONFIG_NROS_ZENOH_LINK_CAN | n | cmake, kconfig select/depends |
CONFIG_NROS_ZENOH_LINK_ISOTP | n | cmake, kconfig select/depends |
CONFIG_NROS_ZENOH_LINK_SERIAL | n | cmake, kconfig select/depends |
CONFIG_NROS_ZENOH_LINK_TCP | y | cmake |
CONFIG_NROS_ZENOH_LINK_UDP_MULTICAST | n | cmake |
CONFIG_NROS_ZENOH_LINK_UDP_UNICAST | n | cmake |
CONFIG_NROS_ZENOH_LINK_WS | n | cmake |
CONFIG_NROS_ZENOH_MULTI_THREAD | y | cmake, kconfig select/depends |
CONFIG_NROS_ZENOH_PUBLICATION | y | cmake |
CONFIG_NROS_ZENOH_QUERY | y | cmake |
CONFIG_NROS_ZENOH_QUERYABLE | y | cmake |
CONFIG_NROS_ZENOH_RAWETH_TRANSPORT | n | cmake |
CONFIG_NROS_ZENOH_SCOUTING | n | cmake |
CONFIG_NROS_ZENOH_SERIAL_FIFO_RXWATER | 1 | c-define |
CONFIG_NROS_ZENOH_SERIAL_FIFO_WATERMARK | — | cmake, kconfig select/depends |
CONFIG_NROS_ZENOH_SERIAL_ISR_STATS | — | cmake |
CONFIG_NROS_ZENOH_SERIAL_RX_RING_BYTES | 1024 | cmake |
CONFIG_NROS_ZENOH_SERIAL_TCM | — | cmake, kconfig select/depends |
CONFIG_NROS_ZENOH_SERIAL_TX_RING_BYTES | 2048 | cmake |
CONFIG_NROS_ZENOH_SERIAL_UART_ASYNC | — | cmake, kconfig select/depends |
CONFIG_NROS_ZENOH_SERIAL_UART_ASYNC_RX_TIMEOUT_US | 25 | cmake |
CONFIG_NROS_ZENOH_SUBSCRIPTION | y | cmake |
CONFIG_NROS_ZEPHYR_MAX_TIERS | 4 | c-define, c-source, cmake, rust-source |
CONFIG_NROS_ZEPHYR_STACKS_IN_DTCM | n | cmake |
CONFIG_NROS_ZEPHYR_TASK_SLOTS | 4 | c-define, c-source, cmake |
CONFIG_NROS_ZEPHYR_TASK_STACK_SIZE | 0 | c-define, c-source, cmake |
CONFIG_NROS_ZEPHYR_TIER_STACK_SIZE | 16384 | c-define, c-source, cmake, rust-source |
Provided for application code
No reader in THIS tree, and not dead: the guides teach an application
to use these in its own main(). Kconfig generating the macro is the
service. Each names where that contract is written down.
| symbol | default | evidence |
|---|---|---|
CONFIG_NROS_INIT_DELAY_MS | 2000 | docs/guides/cpp-api.md shows an application calling nros_platform_zephyr_wait_network(CONFIG_NROS_INIT_DELAY_MS) from its own main(); docs/guides/zephyr-setup.md:220 documents it as a knob. |
Derived — selected by another symbol
No Kconfig prompt, so not asked about directly.
| symbol | default | evidence |
|---|---|---|
CONFIG_NROS_ACTION_INBOX_BYTES | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_ACTION_INBOX_DEPTH | 4 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_BATCH_UNICAST_SIZE | 1024 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_EXECUTOR_BACKING_U64S | -1 | rust-source |
CONFIG_NROS_EXECUTOR_MAX_VIOLATIONS | 8 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_FRAG_MAX_SIZE | 2048 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_GET_POLL_INTERVAL_MS | 10 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_GET_REPLY_BUF_SIZE | 4096 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_GRAPH_CACHE_SIZE | 65536 | cmake, rust-source |
CONFIG_NROS_GRAPH_MAX_ENTITIES | 0 | rust-source |
CONFIG_NROS_LOG_BUFFER_SIZE | 256 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_LOG_DYNAMIC_LOGGERS | 16 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_LOG_EARLY_RECORDS | 4 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_LOG_MAX_LEVEL | 0 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_LOG_ROSOUT_RECORDS | 16 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_LARGE_SUBSCRIBERS | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_LIVELINESS | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_PENDING_GETS | 4 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_PUBLISHERS | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_QUERYABLES | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_MAX_SUBSCRIBERS | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_PARAM_SERVICE_INBOX_BYTES | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_PARAM_SERVICE_INBOX_DEPTH | 1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_PUBSUB_QOS_DEPTH | 10 | rust-source |
CONFIG_NROS_RMW_LOCAL_QUERYABLE | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_RMW_SUBSCRIBER_SLOTS | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_SERVICE_BUFFER_SIZE | 1024 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_SERVICE_INBOX_BYTES | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_SERVICE_INBOX_DEPTH | 4 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_SUBSCRIBER_BUFFER_SIZE | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_SUBSCRIBER_LARGE_SIZE | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_SUBSCRIBER_RING_DEPTH | 4 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_XRCE_BUFFER_SIZE | 1024 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_XRCE_CUSTOM_TRANSPORT_MTU | NROS_XRCE_TRANSPORT_MTU | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_XRCE_MAX_SERVICE_CLIENTS | 4 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_XRCE_MAX_SERVICE_SERVERS | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_XRCE_MAX_SUBSCRIBERS | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_XRCE_SERVICE_REPLY_BUFFER_SIZE | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_XRCE_SERVICE_REQUEST_BUFFER_SIZE | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_XRCE_STREAM_HISTORY | 16 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_XRCE_SUBSCRIBER_BUFFER_SIZE | -1 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_XRCE_SUBSCRIBER_RING_DEPTH | 32 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_XRCE_TRANSPORT_MTU | 512 | forwarded-to-cargo, cmake, rust-source, kconfig select/depends |
CONFIG_NROS_ZENOH_GRAPH_DISCOVERY | `n if (NROS_ZENOH_LINK_SERIAL | |
CONFIG_NROS_ZENOH_LEASE_PRIORITY | 200 | c-define, cmake, rust-source |
CONFIG_NROS_ZENOH_READ_PRIORITY | 200 | c-define, cmake, rust-source |
CONFIG_NROS_ZENOH_SOCKET_TIMEOUT_MS | 100 | c-define, cmake, rust-source |
CONFIG_NROS_ZENOH_TX_BATCH | y | cmake, rust-source, kconfig select/depends |
CONFIG_NROS_ZENOH_TX_BATCH_FLUSH_MS | 50 | forwarded-to-cargo, cmake, rust-source |
CONFIG_NROS_ZENOH_TX_SPLIT_LOCK | y | cmake, rust-source |
CONFIG_NROS_ZEPHYR_HEAP_SIZE | 1048576 if NROS_RMW_CYCLONEDDS | forwarded-to-cargo, c-source, cmake, rust-source |