Configuration Error: `transport_optimization` field incompatible with current Zenoh version (ROS Kilted)

[micat001]

Generated by Generative AI

No.

Operating System:

Ubuntu 24.04

ROS version or commit hash:

kilted

RMW implementation (if applicable):

rmw_zenoh_cpp

RMW Configuration (if applicable):

No response

Client library (if applicable):

No response

'ros2 doctor --report' output

ros2 doctor --report
2025-10-20T19:08:39.627663Z ERROR ThreadId(01) zenohc::config: Failed to read config from /opt/ros/kilted/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5: JSON error: Message { msg: "unknown field `transport_optimization`, expected `enabled` or `mode`", location: Some(Location { line: 768, column: 7 }) } at /home/buildfarm/.cargo/git/checkouts/zenoh-cc237f2570fab813/8909230/commons/zenoh-config/src/lib.rs:1277.
[ERROR] [1760987319.627687838] [rmw_zenoh_cpp]: Invalid configuration file /opt/ros/kilted/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
/opt/ros/kilted/lib/python3.12/site-packages/ros2doctor/api/__init__.py: 162: UserWarning: Fail to call QoSCompatibilityReport class functions.
2025-10-20T19:08:40.827076Z ERROR ThreadId(01) zenohc::config: Failed to read config from /opt/ros/kilted/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5: JSON error: Message { msg: "unknown field `transport_optimization`, expected `enabled` or `mode`", location: Some(Location { line: 768, column: 7 }) } at /home/buildfarm/.cargo/git/checkouts/zenoh-cc237f2570fab813/8909230/commons/zenoh-config/src/lib.rs:1277.
[ERROR] [1760987320.827092143] [rmw_zenoh_cpp]: Invalid configuration file /opt/ros/kilted/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
/opt/ros/kilted/lib/python3.12/site-packages/ros2doctor/api/__init__.py: 162: UserWarning: Fail to call TopicReport class functions.

   NETWORK CONFIGURATION
inet         : 127.0.0.1
inet4        : ['127.0.0.1']
inet6        : ['::1']
netmask      : 255.0.0.0
device       : lo
flags        : UP,LOOPBACK,RUNNING
mtu          : 65536
inet         : 172.17.0.2
inet4        : ['172.17.0.2']
ether        : 7a:7f:8d:3e:e7:5d
netmask      : 255.255.0.0
device       : eth0
flags        : UP,BROADCAST,RUNNING,MULTICAST
mtu          : 1500
broadcast    : 172.17.255.255

   PACKAGE VERSIONS
ros2service                               : latest=0.38.1, local=0.38.0
ament_uncrustify                          : latest=0.19.2, local=0.19.2
ament_lint_common                         : latest=0.19.2, local=0.19.2
ament_xmllint                             : latest=0.19.2, local=0.19.2
ros2topic                                 : latest=0.38.1, local=0.38.0
ament_cmake_cpplint                       : latest=0.19.2, local=0.19.2
rosidl_typesupport_fastrtps_cpp           : latest=3.8.1, local=3.8.0
ament_cmake                               : latest=2.7.3, local=2.7.3
ament_cmake_export_dependencies           : latest=2.7.3, local=2.7.3
ros_core                                  : latest=0.12.0, local=0.12.0
ament_cmake_include_directories           : latest=2.7.3, local=2.7.3
ament_cmake_export_libraries              : latest=2.7.3, local=2.7.3
ament_cmake_export_targets                : latest=2.7.3, local=2.7.3
tinyxml2_vendor                           : latest=0.10.0, local=0.10.0
rosidl_typesupport_fastrtps_c             : latest=3.8.1, local=3.8.0
std_msgs                                  : latest=5.5.1, local=5.5.0
ament_cmake_cppcheck                      : latest=0.19.2, local=0.19.2
ament_cmake_ros                           : latest=0.14.4, local=0.14.3
rmw_dds_common                            : latest=4.0.0, local=3.2.1
osrf_pycommon                             : latest=2.1.6, local=2.1.6
ament_cmake_pytest                        : latest=2.7.3, local=2.7.3
rosidl_generator_cpp                      : latest=4.9.5, local=4.9.5
ros2component                             : latest=0.38.1, local=0.38.0
rosidl_dynamic_typesupport_fastrtps       : latest=0.4.1, local=0.4.1
rmw_implementation_cmake                  : latest=7.8.2, local=7.8.2
rosidl_typesupport_c                      : latest=3.3.3, local=3.3.3
statistics_msgs                           : latest=2.3.0, local=2.3.0
ament_cmake_flake8                        : latest=0.19.2, local=0.19.2
ros2launch                                : latest=0.28.3, local=0.28.2
visualization_msgs                        : latest=5.5.1, local=5.5.0
ament_cmake_pep257                        : latest=0.19.2, local=0.19.2
actionlib_msgs                            : latest=5.5.1, local=5.5.0
ament_cmake_test                          : latest=2.7.3, local=2.7.3
rosidl_typesupport_interface              : latest=4.9.5, local=4.9.5
rcl_lifecycle                             : latest=10.1.2, local=10.1.1
stereo_msgs                               : latest=5.5.1, local=5.5.0
ament_copyright                           : latest=0.19.2, local=0.19.2
ament_cmake_version                       : latest=2.7.3, local=2.7.3
trajectory_msgs                           : latest=5.5.1, local=5.5.0
rosidl_core_runtime                       : latest=0.3.1, local=0.3.1
ament_cmake_core                          : latest=2.7.3, local=2.7.3
common_interfaces                         : latest=5.5.1, local=5.5.0
rclpy                                     : latest=9.1.1, local=9.1.1
class_loader                              : latest=2.8.1, local=2.8.0
rosidl_adapter                            : latest=4.9.5, local=4.9.5
ament_lint                                : latest=0.19.2, local=0.19.2
rclcpp_action                             : latest=29.5.3, local=29.5.2
ament_cmake_gtest                         : latest=2.7.3, local=2.7.3
ament_cmake_target_dependencies           : latest=2.7.3, local=2.7.3
rosidl_default_runtime                    : latest=1.7.1, local=1.7.1
rosidl_generator_c                        : latest=4.9.5, local=4.9.5
rosidl_typesupport_introspection_cpp      : latest=4.9.5, local=4.9.5
rosidl_default_generators                 : latest=1.7.1, local=1.7.1
rosidl_runtime_py                         : latest=0.14.1, local=0.14.1
uncrustify_vendor                         : latest=3.1.0, local=3.1.0
rpyutils                                  : latest=0.6.3, local=0.6.2
ament_cmake_python                        : latest=2.7.3, local=2.7.3
rcl_logging_spdlog                        : latest=3.2.3, local=3.2.2
rosidl_generator_type_description         : latest=4.9.5, local=4.9.5
rosidl_runtime_cpp                        : latest=4.9.5, local=4.9.5
launch                                    : latest=3.8.5, local=3.8.2
rcl_action                                : latest=10.1.2, local=10.1.1
rclcpp_lifecycle                          : latest=29.5.3, local=29.5.2
rcl_logging_interface                     : latest=3.2.3, local=3.2.2
ros2cli                                   : latest=0.38.1, local=0.38.0
rosidl_dynamic_typesupport                : latest=0.3.1, local=0.3.1
rosidl_generator_py                       : latest=0.24.2, local=0.24.1
ros2interface                             : latest=0.38.1, local=0.38.0
ament_flake8                              : latest=0.19.2, local=0.19.2
ament_index_cpp                           : latest=1.11.0, local=1.11.0
builtin_interfaces                        : latest=2.3.0, local=2.3.0
tracetools                                : latest=8.6.0, local=8.6.0
spdlog_vendor                             : latest=1.7.0, local=1.7.0
service_msgs                              : latest=2.3.0, local=2.3.0
rcl                                       : latest=10.1.2, local=10.1.1
rmw_implementation                        : latest=3.0.4, local=3.0.4
launch_testing                            : latest=3.8.5, local=3.8.2
ament_cmake_gen_version_h                 : latest=2.7.3, local=2.7.3
rcpputils                                 : latest=2.13.5, local=2.13.4
ament_cmake_export_interfaces             : latest=2.7.3, local=2.7.3
ament_cmake_copyright                     : latest=0.19.2, local=0.19.2
rcutils                                   : latest=6.9.8, local=6.9.8
shape_msgs                                : latest=5.5.1, local=5.5.0
ament_cmake_export_include_directories    : latest=2.7.3, local=2.7.3
ros2param                                 : latest=0.38.1, local=0.38.0
ros2run                                   : latest=0.38.1, local=0.38.0
ament_cmake_export_link_flags             : latest=2.7.3, local=2.7.3
ament_index_python                        : latest=1.11.0, local=1.11.0
rosidl_parser                             : latest=4.9.5, local=4.9.5
ros2doctor                                : latest=0.38.1, local=0.38.0
rclcpp_components                         : latest=29.5.3, local=29.5.2
pluginlib                                 : latest=5.6.1, local=5.6.0
rosidl_cli                                : latest=4.9.5, local=4.9.5
nav_msgs                                  : latest=5.5.1, local=5.5.0
rosidl_cmake                              : latest=4.9.5, local=4.9.5
ament_package                             : latest=0.17.2, local=0.17.2
ros_workspace                             : latest=1.0.3, local=1.0.3
rosidl_typesupport_cpp                    : latest=3.3.3, local=3.3.3
rmw                                       : latest=7.8.2, local=7.8.2
ament_cmake_ros_core                      : latest=0.14.4, local=0.14.3
launch_testing_ros                        : latest=0.28.3, local=0.28.2
type_description_interfaces               : latest=2.3.0, local=2.3.0
ros2lifecycle                             : latest=0.38.1, local=0.38.0
ament_pep257                              : latest=0.19.2, local=0.19.2
zenoh_cpp_vendor                          : latest=0.6.5, local=0.6.3
rosidl_typesupport_introspection_c        : latest=4.9.5, local=4.9.5
launch_yaml                               : latest=3.8.5, local=3.8.2
libyaml_vendor                            : latest=1.7.1, local=1.7.1
ros2pkg                                   : latest=0.38.1, local=0.38.0
rcl_yaml_param_parser                     : latest=10.1.2, local=10.1.1
std_srvs                                  : latest=5.5.1, local=5.5.0
ros_environment                           : latest=4.3.1, local=4.3.1
rosidl_pycommon                           : latest=4.9.5, local=4.9.5
ament_cpplint                             : latest=0.19.2, local=0.19.2
rmw_security_common                       : latest=7.8.2, local=7.8.2
rmw_fastrtps_shared_cpp                   : latest=9.3.3, local=9.3.2
ament_cmake_xmllint                       : latest=0.19.2, local=0.19.2
launch_testing_ament_cmake                : latest=3.8.5, local=3.8.2
action_msgs                               : latest=2.3.0, local=2.3.0
rmw_test_fixture                          : latest=0.14.4, local=0.14.3
unique_identifier_msgs                    : latest=2.7.0, local=2.7.0
libstatistics_collector                   : latest=2.0.1, local=2.0.1
ament_cmake_libraries                     : latest=2.7.3, local=2.7.3
ros2node                                  : latest=0.38.1, local=0.38.0
launch_ros                                : latest=0.28.3, local=0.28.2
ros2cli_common_extensions                 : latest=0.4.0, local=0.4.0
ament_cmake_export_definitions            : latest=2.7.3, local=2.7.3
ros2action                                : latest=0.38.1, local=0.38.0
ament_lint_auto                           : latest=0.19.2, local=0.19.2
sros2                                     : latest=0.15.2, local=0.15.2
rclcpp                                    : latest=29.5.3, local=29.5.2
launch_xml                                : latest=3.8.5, local=3.8.2
ament_cmake_auto                          : latest=2.7.3, local=2.7.3
rcl_interfaces                            : latest=2.3.0, local=2.3.0
rosidl_runtime_c                          : latest=4.9.5, local=4.9.5
diagnostic_msgs                           : latest=5.5.1, local=5.5.0
rosidl_core_generators                    : latest=0.3.1, local=0.3.1
sros2_cmake                               : latest=0.15.2, local=0.15.2
rmw_zenoh_cpp                             : latest=0.6.5, local=0.6.5
rmw_test_fixture_implementation           : latest=0.14.4, local=0.14.3
composition_interfaces                    : latest=2.3.0, local=2.3.0
console_bridge_vendor                     : latest=1.8.0, local=1.8.0
lifecycle_msgs                            : latest=2.3.0, local=2.3.0
ament_cppcheck                            : latest=0.19.2, local=0.19.2
geometry_msgs                             : latest=5.5.1, local=5.5.0
ament_lint_cmake                          : latest=0.19.2, local=0.19.2
rosgraph_msgs                             : latest=2.3.0, local=2.3.0
ros2multicast                             : latest=0.38.1, local=0.38.0
sensor_msgs                               : latest=5.5.1, local=5.5.0
ament_cmake_lint_cmake                    : latest=0.19.2, local=0.19.2
ament_cmake_gmock                         : latest=2.7.3, local=2.7.3
rmw_fastrtps_cpp                          : latest=9.3.3, local=9.3.2
ament_cmake_uncrustify                    : latest=0.19.2, local=0.19.2
example_interfaces                        : latest=0.13.1, local=0.13.0
demo_nodes_cpp                            : latest=0.36.2, local=0.36.2
mcap_vendor                               : latest=0.32.0, local=0.32.0
keyboard_handler                          : latest=0.4.0, local=0.4.0
eigen3_cmake_module                       : latest=0.4.0, local=0.4.0
rosbag2_transport                         : latest=0.32.0, local=0.32.0
tf2_eigen                                 : latest=0.41.3, local=0.41.2
rosbag2                                   : latest=0.32.0, local=0.32.0
rosbag2_cpp                               : latest=0.32.0, local=0.32.0
tf2_tools                                 : latest=0.41.3, local=0.41.2
rosbag2_interfaces                        : latest=0.32.0, local=0.32.0
kdl_parser                                : latest=2.12.1, local=2.12.1
message_filters                           : latest=7.1.4, local=7.1.1
tf2_eigen_kdl                             : latest=0.41.3, local=0.41.2
tf2_geometry_msgs                         : latest=0.41.3, local=0.41.2
tf2_bullet                                : latest=0.41.3, local=0.41.2
urdf                                      : latest=2.12.2, local=2.12.2
tf2_py                                    : latest=0.41.3, local=0.41.2
zstd_vendor                               : latest=0.32.0, local=0.32.0
tf2_sensor_msgs                           : latest=0.41.3, local=0.41.2
sensor_msgs_py                            : latest=5.5.1, local=5.5.0
rosbag2_compression_zstd                  : latest=0.32.0, local=0.32.0
python_orocos_kdl_vendor                  : latest=0.7.1, local=0.7.1
robot_state_publisher                     : latest=3.4.3, local=3.4.2
ros2bag                                   : latest=0.32.0, local=0.32.0
rosbag2_py                                : latest=0.32.0, local=0.32.0
tf2_ros_py                                : latest=0.41.3, local=0.41.2
urdf_parser_plugin                        : latest=2.12.2, local=2.12.2
rosbag2_storage_default_plugins           : latest=0.32.0, local=0.32.0
orocos_kdl_vendor                         : latest=0.7.1, local=0.7.1
sqlite3_vendor                            : latest=0.32.0, local=0.32.0
rosbag2_storage_sqlite3                   : latest=0.32.0, local=0.32.0
rosbag2_storage_mcap                      : latest=0.32.0, local=0.32.0
yaml_cpp_vendor                           : latest=9.1.0, local=9.1.0
tf2_kdl                                   : latest=0.41.3, local=0.41.2
liblz4_vendor                             : latest=0.32.0, local=0.32.0
rosbag2_storage                           : latest=0.32.0, local=0.32.0
geometry2                                 : latest=0.41.3, local=0.41.2
tf2_ros                                   : latest=0.41.3, local=0.41.2
ros_base                                  : latest=0.12.0, local=0.12.0
pybind11_vendor                           : latest=3.2.0, local=3.2.0
tf2                                       : latest=0.41.3, local=0.41.2
rosbag2_compression                       : latest=0.32.0, local=0.32.0
tf2_msgs                                  : latest=0.41.3, local=0.41.2

   PLATFORM INFORMATION
system           : Linux
platform info    : Linux-5.15.0-139-generic-x86_64-with-glibc2.39
release          : 5.15.0-139-generic
processor        : x86_64

   RMW MIDDLEWARE
middleware name    : rmw_zenoh_cpp

   ROS 2 INFORMATION
distribution name      : kilted
distribution type      : ros2
distribution status    : active
release platforms      : {'debian': ['bookworm'], 'rhel': ['9'], 'ubuntu': ['noble']}

Run inside a kilted docker:

FROM ros:kilted-ros-base

# Install rmw-zenoh-cpp
RUN apt-get update && \
    apt-get install -y --no-install-recommends \
    ros-kilted-rmw-zenoh-cpp \
    ros-kilted-demo-nodes-cpp && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# Set environment to use Zenoh RMW
ENV RMW_IMPLEMENTATION=rmw_zenoh_cpp

# Source ROS setup
RUN echo "source /opt/ros/kilted/setup.bash" >> ~/.bashrc

CMD ["/bin/bash"]

Steps to reproduce issue

1. Build Dockerfile: docker build -f Dockerfile.zenoh-test -t zenoh-test .

FROM ros:kilted-ros-base

# Install rmw-zenoh-cpp
RUN apt-get update && \
  apt-get install -y --no-install-recommends \
  ros-kilted-rmw-zenoh-cpp \
  ros-kilted-demo-nodes-cpp && \
  apt-get clean && \
  rm -rf /var/lib/apt/lists/*

# Set environment to use Zenoh RMW
ENV RMW_IMPLEMENTATION=rmw_zenoh_cpp

# Source ROS setup
RUN echo "source /opt/ros/kilted/setup.bash" >> ~/.bashrc

CMD ["/bin/bash"]

2. Enter Docker:docker run -it --rm zenoh-test bash
3. Set ROS/Zenoh config:

source /opt/ros/kilted/setup.bash
export RMW_IMPLEMENTATION=rmw_zenoh_cpp

4. Run

/opt/ros/kilted/lib/rmw_zenoh_cpp/rmw_zenohd

# OR
ros2 run rmw_zenoh_cpp rmw_zenohd 

Expected behavior

The Zenoh router and ROS 2 nodes should start successfully with the default configuration files.

Actual behavior

Both the router and ROS 2 nodes fail to start, throwing configuration parsing errors about the unknown transport_optimization field.

ros2 run rmw_zenoh_cpp rmw_zenohd 
2025-10-20T19:12:15.945083Z ERROR ThreadId(01) zenohc::config: Failed to read config from /opt/ros/kilted/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5: JSON error: Message { msg: "unknown field `transport_optimization`, expected `enabled` or `mode`", location: Some(Location { line: 761, column: 7 }) } at /home/buildfarm/.cargo/git/checkouts/zenoh-cc237f2570fab813/8909230/commons/zenoh-config/src/lib.rs:1277.
logging system isn't initialized: call to rcutils_logging_console_output_handler failed.
[ros2run]: Process exited with failure 1

Additional information

• ROS Distribution: Kilted
• RMW Implementation: rmw_zenoh_cpp
• Docker Base Image: ros:kilted-ros-base

Current workaround to get builds to start is to remove the transport_optimization block from both config files:

sed -i '/transport_optimization:/,/^[[:space:]]*},/d' /opt/ros/kilted/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
sed -i '/transport_optimization:/,/^[[:space:]]*},/d' /opt/ros/kilted/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

[JEnoch]

Thanks for reporting this. I can reproduce it.

It appears the version 0.6.5 for kilted is using zenoh (rust) with commit id 8909230d, which corresponds to a version before zenoh 1.5.1. The transport_optimization config was added to zenoh later, in 1.5.1

What is really weird is that the tag 0.6.5 is well using zenoh-c commit 8f9ce70e which corresponds to the 1.5.1 and is depending on zenoh rust 1.5.1 with commit id 78dea468.

Moreover, the build log of ros-kilted-zenoh-cpp-vendor-0.6.5 debian package clearly show that zenoh rust 1.5.1 with commit id 78dea468 was used !
From https://build.ros2.org/view/Kbin_uN64/job/Kbin_uN64__zenoh_cpp_vendor__ubuntu_noble_amd64__binary/8/consoleFull :

00:38:37    Compiling zenoh v1.5.1 (https://github.com/eclipse-zenoh/zenoh.git?branch=release/1.5.1#78dea468)

I don't understand how the release package on Kilted could end up using zenoh 8909230d !
The problem doesn't exist on jazzy where the version 0.2.8 correctly uses zenoh 1.5.1 with commit id 78dea46.