hiroz

Core Zenoh-native ROS 2 library (nodes, pub/sub, services, actions).

📚 Full Documentation

lib.rs:

hiroz — Zenoh-native ROS 2 in pure Rust

hiroz provides ROS 2-style pub/sub, services, and actions built directly on Zenoh, with no C/C++ dependencies.

Getting started

use hiroz::prelude::*;
use hiroz_msgs::std_msgs::String as RosString;

let ctx = ZContextBuilder::default().build()?;
let node = ctx.create_node("talker").build()?;
let publisher = node.create_pub::<RosString>("/chatter").build()?;
publisher.async_publish(&RosString { data: "hello".into() }).await?;

Sync and async APIs

Most hiroz types expose both a blocking and an async variant of each operation. The naming convention is:

For example, ZPub::publish blocks until the put completes, while ZPub::async_publish yields to the async executor.

Imports

The easiest way to import all common types is via the prelude:

use hiroz::prelude::*;

Or import types individually from their modules.