oxidros-zenoh

Native ROS2 implementation using Zenoh middleware.

Overview

oxidros-zenoh provides a pure Rust ROS2 implementation that communicates over Zenoh, compatible with rmw_zenoh_cpp. This allows ROS2 nodes built with this crate to interoperate with standard ROS2 nodes using the Zenoh RMW.

Features

• No ROS2 installation required: Works natively without ROS2 runtime
• Compatible with rmw_zenoh_cpp: Follows the rmw_zenoh design
• Pub/Sub: Topic publishers and subscribers with QoS support
• Services: Client/Server request-response pattern
• Parameters: Full parameter server support
• Graph Discovery: Liveliness-based entity discovery

Requirements

• A Zenoh router running (default: localhost:7447)
• Tokio runtime (Zenoh uses tokio internally)

Quick Start

use oxidros_zenoh::{Context, Node};
use std_msgs::msg::String as StringMsg;

#[tokio::main]
async fn main() -> Result<(), Box<dyn std::error::Error>> {
    // Create context (connects to Zenoh router)
    let ctx = Context::new()?;
    
    // Create a node
    let node = ctx.create_node("my_node", None)?;
    
    // Create a publisher
    let publisher = node.create_publisher::<StringMsg>("chatter", None)?;
    
    // Publish a message
    let msg = StringMsg { data: "Hello from Rust!".into() };
    publisher.send(&msg)?;
    
    Ok(())
}

Compatibility

This implementation follows the rmw_zenoh design specification:

• Key expression format: <domain_id>/<fq_name>/<type_name>/<type_hash>
• Liveliness tokens: @ros2_lv/<domain_id>/<session_id>/...
• CDR serialization (Little Endian)
• Attachment format for sequence numbers, timestamps, and GIDs

Environment Variables

• ROS_DOMAIN_ID: Domain ID (default: 0)
• ZENOH_SESSION_CONFIG_URI: Path to Zenoh session config file
• ZENOH_ROUTER_CONFIG_URI: Path to Zenoh router config file

License

See LICENSE file in the repository root.