chore: deprecate hiroz-bridge binary and ros2dds key expression format

hiroz-bridge is superseded by the hiroz-toolkit binary which handles
cross-distro and cross-DDS bridging in a single configurable binary.
KeyExprFormat::Ros2Dds is deprecated in favour of zenoh-bridge-dds.

Author: YuanYuYuan

crates/hiroz-bridge/src/main.rs

@@ -1,5 +1,9 @@
 //! hiroz-bridge: bridges ROS 2 Humble and Jazzy Zenoh networks.
 //!
+//! **Deprecated.** This binary is deprecated and will be removed in a future release.
+//! The successor is `hiroz-bridge` from [hiroz-toolkit](https://github.com/ZettaScaleLabs/hiroz-toolkit),
+//! which supports cross-distro and cross-DDS bridging in a single configurable binary.
+//!
 //! Humble uses `TypeHashNotSupported` as type hash in key expressions.
 //! Jazzy uses `RIHS01_<hex>` hashes. The bridge subscribes to both networks,
 //! rewrites key expressions so they match, and forwards messages bidirectionally.
@@ -37,6 +41,11 @@ async fn main() -> Result<()> {
 
     let args = Args::parse();
 
+    eprintln!(
+        "WARNING: hiroz-bridge is deprecated and will be removed in a future release.\n\
+         Use hiroz-bridge from hiroz-toolkit instead: https://github.com/ZettaScaleLabs/hiroz-toolkit"
+    );
+
     tracing::info!(
         "Starting hiroz-bridge: humble={} jazzy={} domain={}",
         args.humble_endpoint,

crates/hiroz-protocol/Cargo.toml

@@ -14,7 +14,7 @@ categories = ["network-programming", "science::robotics"]
 default = ["std", "rmw-zenoh"]
 std = ["zenoh/default"]
 rmw-zenoh = []
-ros2dds = []
+ros2dds = []                   # deprecated: will be removed in a future release
 no-type-hash = []              # ROS 2 Humble doesn't support type hashing
 
 [dependencies]

crates/hiroz-protocol/src/format/mod.rs

@@ -34,6 +34,16 @@ pub enum KeyExprFormat {
     /// zenoh-plugin-ros2dds compatible format.
     ///
     /// Different key expression structure for DDS bridge compatibility.
+    ///
+    /// **Deprecated.** This format and the `ros2dds` feature flag will be removed in a future
+    /// release. For legacy DDS bridge needs, use
+    /// [`zenoh-bridge-dds`](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds) with
+    /// `--wire-format ros2dds`.
+    #[deprecated(
+        since = "0.1.0",
+        note = "The ros2dds format will be removed in a future release. \
+                Use zenoh-bridge-dds --wire-format ros2dds for DDS bridging."
+    )]
     Ros2Dds,
 }
 

crates/hiroz/Cargo.toml

@@ -83,9 +83,11 @@ dynamic-schema-loader = ["hiroz-codegen"]
 
 # Key expression format selection
 # rmw-zenoh: Compatible with rmw_zenoh_cpp (domain/topic/type/hash format)
-# ros2dds: Compatible with zenoh-bridge-ros2dds (simple topic format)
+# ros2dds: Compatible with zenoh-bridge-ros2dds (simple topic format) — DEPRECATED
 rmw-zenoh = ["hiroz-protocol/rmw-zenoh"]
-ros2dds = ["hiroz-protocol/ros2dds"]
+ros2dds = [
+  "hiroz-protocol/ros2dds",
+] # deprecated: will be removed in a future release
 rcl-z = []
 ffi = []
 

docs/experimental/keyexpr-formats.md

@@ -12,7 +12,7 @@ hiroz supports multiple key expression formats for interoperability with differe
 | Format | Compatibility | Use Case |
 |--------|--------------|----------|
 | **RmwZenoh** (default) | [`rmw_zenoh_cpp`](https://github.com/ros2/rmw_zenoh) | Standard ROS 2 Zenoh middleware |
-| **Ros2Dds** | `zenoh-bridge-ros2dds` | DDS bridge compatibility |
+| **Ros2Dds** _(deprecated)_ | `zenoh-bridge-ros2dds` | DDS bridge compatibility |
 
 ### RmwZenoh Format (Default)
 
@@ -38,7 +38,9 @@ Liveliness:      @ros2_lv/<domain_id>/<entity_kind>/<namespace>/<name>/...
 - Running pure hiroz deployments
 - Requiring domain isolation via Zenoh
 
-### Ros2Dds Format
+### Ros2Dds Format _(deprecated)_
+
+> **Deprecated.** `KeyExprFormat::Ros2Dds` and the `ros2dds` feature flag are deprecated and will be removed in a future release. For DDS bridging use `zenoh-bridge-dds --wire-format ros2dds` from [zenoh-plugin-ros2dds](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds).
 
 The Ros2Dds format targets compatibility with `zenoh-bridge-ros2dds`, which bridges standard DDS-based ROS 2 nodes to Zenoh.
 

docs/user-guide/bridge.md

@@ -1,5 +1,7 @@
 # Cross-Distro Bridge
 
+> **Deprecated.** The `hiroz-bridge` binary in this repository is deprecated and will be removed in a future release. The successor is `hiroz-bridge` from [hiroz-toolkit](https://github.com/ZettaScaleLabs/hiroz-toolkit), which supports cross-distro and cross-DDS bridging in a single configurable binary.
+
 `hiroz-bridge` is a standalone binary that transparently connects a **legacy** ROS 2 network
 (Humble and earlier) and a **modern** ROS 2 network (Jazzy, Kilted, Lyrical, Rolling) over a shared
 Eclipse Zenoh backbone.