|
| 1 | +Zenoh |
| 2 | +===== |
| 3 | + |
| 4 | +Zenoh is an open source communication protocol and middleware designed to facilitate efficient data distribution across heterogeneous systems. |
| 5 | +It provides location-transparent abstractions for high performance pub/sub and distributed queries. |
| 6 | +See also: https://zenoh.io/docs/getting-started/first-app/ |
| 7 | + |
| 8 | +Prerequisites |
| 9 | +------------- |
| 10 | + |
| 11 | +Have :doc:`rosdep installed <../../../Tutorials/Intermediate/Rosdep>`. |
| 12 | + |
| 13 | +Installation packages |
| 14 | +--------------------- |
| 15 | + |
| 16 | +The rmw implementation Zenoh can be installed via binaries, recommended for stable development. |
| 17 | + |
| 18 | +Binary packages for supported ROS 2 distributions (see distro branches) are available on respective Tier-1 platforms for the distributions. |
| 19 | +First ensure that your system is set up to install ROS 2 binaries by following the instructions here. |
| 20 | + |
| 21 | +Then install rmw_zenoh binaries using the command |
| 22 | + |
| 23 | +.. code-block:: bash |
| 24 | +
|
| 25 | + sudo apt install ros-{DISTRO}-rmw-zenoh-cpp |
| 26 | +
|
| 27 | +Build from source code |
| 28 | +---------------------- |
| 29 | + |
| 30 | +Built from source, recommended if latest features are needed. |
| 31 | + |
| 32 | +By default, we vendor and compile ``zenoh-cpp`` with a subset of zenoh features. |
| 33 | +The ``ZENOHC_CARGO_FLAGS`` CMake argument may be overwritten with other features included if required. |
| 34 | +See `zenoh_cpp_vendor/CMakeLists.txt <https://github.com/ros2/rmw_zenoh/blob/{DISTRO}/zenoh_cpp_vendor/CMakeLists.txt>`__ for more details. |
| 35 | + |
| 36 | +1. Clone the repository |
| 37 | + |
| 38 | +.. code-block:: bash |
| 39 | +
|
| 40 | + mkdir ~/ws_rmw_zenoh/src -p && cd ~/ws_rmw_zenoh/src |
| 41 | + git clone https://github.com/ros2/rmw_zenoh.git -b {DISTRO} |
| 42 | +
|
| 43 | +1. Install dependencies: |
| 44 | + |
| 45 | +.. code-block:: bash |
| 46 | +
|
| 47 | + cd ~/ws_rmw_zenoh |
| 48 | + rosdep install --from-paths src --ignore-src --rosdistro {DISTRO} -y |
| 49 | +
|
| 50 | +3. Build the workspace using Colcon: |
| 51 | + |
| 52 | +.. code-block:: bash |
| 53 | +
|
| 54 | + source /opt/ros/{DISTRO}/setup.bash |
| 55 | + colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release |
| 56 | +
|
| 57 | +
|
| 58 | +Switch to rmw_zenoh_cpp |
| 59 | +------------------------ |
| 60 | + |
| 61 | +Switch from other rmw to rmw_zenoh_cpp by specifying the environment variable. |
| 62 | + |
| 63 | +.. code-block:: bash |
| 64 | +
|
| 65 | + export RMW_IMPLEMENTATION=rmw_zenoh_cpp |
| 66 | +
|
| 67 | +Run the talker and listener |
| 68 | +--------------------------- |
| 69 | + |
| 70 | +Now run ``talker`` and ``listener`` to test Zenoh. |
| 71 | + |
| 72 | +Start the Zenoh router |
| 73 | + |
| 74 | +.. code-block:: bash |
| 75 | +
|
| 76 | + # terminal 1 |
| 77 | + ros2 run rmw_zenoh_cpp talker rmw_zenohd |
| 78 | +
|
| 79 | +.. note:: Without the Zenoh router, nodes will not be able to discover each other since multicast discovery is disabled by default in the node's session config. |
| 80 | + Instead, nodes will receive discovery information about other peers via the Zenoh router's gossip functionality. |
| 81 | + |
| 82 | +.. code-block:: bash |
| 83 | +
|
| 84 | + # terminal 2 |
| 85 | + export RMW_IMPLEMENTATION=rmw_zenoh_cpp |
| 86 | + ros2 run demo_nodes_cpp talker |
| 87 | +
|
| 88 | +.. code-block:: bash |
| 89 | +
|
| 90 | + # terminal 3 |
| 91 | + export RMW_IMPLEMENTATION=rmw_zenoh_cpp |
| 92 | + ros2 run demo_nodes_cpp listener |
| 93 | +
|
| 94 | +.. note:: Remember to source your ROS 2 setup script before running these commands. |
| 95 | + |
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