ros2 · fujitatomoya · Apr 24, 2025 · Apr 24, 2025
diff --git a/source/Installation.rst b/source/Installation.rst
@@ -16,7 +16,7 @@ Options for installing ROS 2 {DISTRO_TITLE_FULL}:
    Installation/Alternatives
    Installation/Maintaining-a-Source-Checkout
    Installation/Testing
-   Installation/DDS-Implementations
+   Installation/RMW-Implementations
 
 Binary packages
 ---------------

diff --git a/source/Installation/RMW-Implementations.rst b/source/Installation/RMW-Implementations.rst
@@ -0,0 +1,27 @@
+.. redirect-from::
+
+    Installation/DDS-Implementations
+
+RMW implementations
+===================
+
+By default, ROS 2 uses DDS as its `middleware <https://design.ros2.org/articles/ros_on_dds.html>`__.
+It is compatible with multiple DDS or RTPS (the DDS wire protocol) vendors.
+There is currently support for eProsima's Fast DDS, RTI's Connext DDS, Eclipse Cyclone DDS, and GurumNetworks GurumDDS.
+
+It also supports non DDS RMW implementations such us Zenoh.
+
+See `REP-2000 <https://ros.org/reps/rep-2000.html>`__ for supported RMW vendors by distribution.
+
+The default RMW vendor is eProsima's Fast DDS.
+
+Review all the possible options:
+
+.. toctree::
+   :hidden:
+   :glob:
+
+   RMW-Implementations/*
+
+* :doc:`DDS implementations <RMW-Implementations/DDS-Implementations>` explains how to use DDS.
+* :doc:`Non DDS implementations <RMW-Implementations/Non-DDS-Implementations>` explains how to use non DDS implementations.
diff --git a/source/Installation/DDS-Implementations.rst → ...W-Implementations/DDS-Implementations.rst b/source/Installation/DDS-Implementations.rst → ...W-Implementations/DDS-Implementations.rst
@@ -1,12 +1,7 @@
 DDS implementations
 ===================
 
-By default, ROS 2 uses DDS as its `middleware <https://design.ros2.org/articles/ros_on_dds.html>`__.
-It is compatible with multiple DDS or RTPS (the DDS wire protocol) vendors.
-There is currently support for eProsima's Fast DDS, RTI's Connext DDS, Eclipse Cyclone DDS, and GurumNetworks GurumDDS.
-See `REP-2000 <https://ros.org/reps/rep-2000.html>`__ for supported DDS vendors by distribution.
-
-The default DDS vendor is eProsima's Fast DDS.
+These are the available DDS implementaions:
 
 * :doc:`Working with Eclipse Cyclone DDS <DDS-Implementations/Working-with-Eclipse-CycloneDDS>` explains how to utilize Cyclone DDS.
 * :doc:`Working with eProsima Fast DDS <DDS-Implementations/Working-with-eProsima-Fast-DDS>` explains how to utilize Fast DDS.
@@ -22,4 +17,4 @@ The default DDS vendor is eProsima's Fast DDS.
 If you would like to use one of the other vendors you will need to install their software separately before building.
 The ROS 2 build will automatically build support for vendors that have been installed and sourced correctly.
 
-Once you've installed a new DDS vendor, you can change the vendor used at runtime: :doc:`Working with Multiple RMW Implementations <../How-To-Guides/Working-with-multiple-RMW-implementations>`.
+Once you've installed a new RMW vendor, you can change the vendor used at runtime: :doc:`Working with Multiple RMW Implementations <../../How-To-Guides/Working-with-multiple-RMW-implementations>`.
diff --git a/...tions/Working-with-Eclipse-CycloneDDS.rst → ...tions/Working-with-Eclipse-CycloneDDS.rst b/...tions/Working-with-Eclipse-CycloneDDS.rst → ...tions/Working-with-Eclipse-CycloneDDS.rst
@@ -13,7 +13,7 @@ See also: https://projects.eclipse.org/projects/iot.cyclonedds
 Prerequisites
 -------------
 
-Have :doc:`rosdep installed <../../Tutorials/Intermediate/Rosdep>`.
+Have :doc:`rosdep installed <../../../Tutorials/Intermediate/Rosdep>`.
 
 Install packages
 ----------------
@@ -59,7 +59,7 @@ Switch from other rmw to rmw_cyclonedds by specifying the environment variable.
 
    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
-See also: :doc:`Working with multiple RMW implementations <../../How-To-Guides/Working-with-multiple-RMW-implementations>`
+See also: :doc:`Working with multiple RMW implementations <../../../How-To-Guides/Working-with-multiple-RMW-implementations>`
 
 Run the talker and listener
 ---------------------------

diff --git a/...s/Working-with-GurumNetworks-GurumDDS.rst → ...s/Working-with-GurumNetworks-GurumDDS.rst b/...s/Working-with-GurumNetworks-GurumDDS.rst → ...s/Working-with-GurumNetworks-GurumDDS.rst
@@ -10,7 +10,7 @@ For more information about GurumDDS, visit the `GurumNetworks website <https://g
 
 Prerequisites
 -------------
-This guide assumes you have completed the ROS 2 environment setup process, either by :doc:`Installing ROS 2 via Deb Packages <../Ubuntu-Install-Debs>` or :doc:`Building ROS 2 from source on Ubuntu <../Alternatives/Ubuntu-Development-Setup>`.
+This guide assumes you have completed the ROS 2 environment setup process, either by :doc:`Installing ROS 2 via Deb Packages <../../Ubuntu-Install-Debs>` or :doc:`Building ROS 2 from source on Ubuntu <../../Alternatives/Ubuntu-Development-Setup>`.
 
 Version Requirements (`see the README for details <https://github.com/ros2/rmw_gurumdds>`_):
 
@@ -57,7 +57,7 @@ Option 2: Build from source code
    cd ..
    rosdep install --from src -i --rosdistro {DISTRO}
 
-3. Build the worksapce using Colcon:
+3. Build the workspace using Colcon:
 
 .. code-block:: bash
 
@@ -72,8 +72,7 @@ Switch from other RMW implementations to rmw_gurumdds by setting the environment
 
    export RMW_IMPLEMENTATION=rmw_gurumdds_cpp
 
-For more information on working with multiple RMW implementations, see :doc:`Working with multiple RMW implementations <../../How-To-Guides/Working-with-multiple-RMW-implementations>`.
-
+For more information on working with multiple RMW implementations, see :doc:`Working with multiple RMW implementations <../../../How-To-Guides/Working-with-multiple-RMW-implementations>`.
 
 Testing the installation
 ------------------------

diff --git a/...ntations/Working-with-RTI-Connext-DDS.rst → ...ntations/Working-with-RTI-Connext-DDS.rst b/...ntations/Working-with-RTI-Connext-DDS.rst → ...ntations/Working-with-RTI-Connext-DDS.rst
@@ -106,7 +106,7 @@ Set the environment variable ``RMW_IMPLEMENTATION`` to tell ROS 2 which RMW to u
 
    export RMW_IMPLEMENTATION=rmw_connextdds
 
-See also: :doc:`Working with multiple RMW implementations <../../How-To-Guides/Working-with-multiple-RMW-implementations>`
+See also: :doc:`Working with multiple RMW implementations <../../../How-To-Guides/Working-with-multiple-RMW-implementations>`
 
 Run the talker and listener
 ---------------------------

diff --git a/...ations/Working-with-eProsima-Fast-DDS.rst → ...ations/Working-with-eProsima-Fast-DDS.rst b/...ations/Working-with-eProsima-Fast-DDS.rst → ...ations/Working-with-eProsima-Fast-DDS.rst
@@ -8,7 +8,7 @@ See also: https://www.eprosima.com/index.php/products-all/eprosima-fast-dds
 Prerequisites
 -------------
 
-Have :doc:`rosdep installed <../../Tutorials/Intermediate/Rosdep>`.
+Have :doc:`rosdep installed <../../../Tutorials/Intermediate/Rosdep>`.
 
 Install packages
 ----------------
@@ -54,7 +54,7 @@ The eProsima Fast DDS RMW can be selected by specifying the environment variable
 
    export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 
-See also: :doc:`Working with multiple RMW implementations <../../How-To-Guides/Working-with-multiple-RMW-implementations>`
+See also: :doc:`Working with multiple RMW implementations <../../../How-To-Guides/Working-with-multiple-RMW-implementations>`
 
 Run the talker and listener
 ---------------------------

diff --git a/source/Installation/RMW-Implementations/Non-DDS-Implementations.rst b/source/Installation/RMW-Implementations/Non-DDS-Implementations.rst
@@ -0,0 +1,15 @@
+Non-DDS-Implementations
+=======================
+
+* :doc:`Working with Zenoh <Non-DDS-Implementations/Working-with-Zenoh>` explains how to utilize Zenoh.
+
+.. toctree::
+   :hidden:
+   :glob:
+
+   Non-DDS-Implementations/*
+
+If you would like to use one of the other vendors you will need to install their software separately before building.
+The ROS 2 build will automatically build support for vendors that have been installed and sourced correctly.
+
+Once you've installed a new RMW vendor, you can change the vendor used at runtime: :doc:`Working with Multiple RMW Implementations <../../How-To-Guides/Working-with-multiple-RMW-implementations>`.
diff --git a/...Installation/RMW-Implementations/Non-DDS-Implementations/Working-with-Zenoh.rst b/...Installation/RMW-Implementations/Non-DDS-Implementations/Working-with-Zenoh.rst
@@ -0,0 +1,95 @@
+Zenoh
+=====
+
+Zenoh is an open source communication protocol and middleware designed to facilitate efficient data distribution across heterogeneous systems.
+It provides location-transparent abstractions for high performance pub/sub and distributed queries.
+See also: https://zenoh.io/docs/getting-started/first-app/
+
+Prerequisites
+-------------
+
+Have :doc:`rosdep installed <../../../Tutorials/Intermediate/Rosdep>`.
+
+Installation packages
+---------------------
+
+The rmw implementation Zenoh can be installed via binaries, recommended for stable development.
+
+Binary packages for supported ROS 2 distributions (see distro branches) are available on respective Tier-1 platforms for the distributions.
+First ensure that your system is set up to install ROS 2 binaries by following the instructions here.
+
+Then install rmw_zenoh binaries using the command
+
+.. code-block:: bash
+
+   sudo apt install ros-{DISTRO}-rmw-zenoh-cpp
+
+Build from source code
+----------------------
+
+Built from source, recommended if latest features are needed.
+
+By default, we vendor and compile ``zenoh-cpp`` with a subset of zenoh features.
+The ``ZENOHC_CARGO_FLAGS`` CMake argument may be overwritten with other features included if required.
+See `zenoh_cpp_vendor/CMakeLists.txt <https://github.com/ros2/rmw_zenoh/blob/{DISTRO}/zenoh_cpp_vendor/CMakeLists.txt>`__ for more details.
+
+1. Clone the repository
+
+.. code-block:: bash
+
+    mkdir ~/ws_rmw_zenoh/src -p && cd ~/ws_rmw_zenoh/src
+    git clone https://github.com/ros2/rmw_zenoh.git -b {DISTRO}
+
+1. Install dependencies:
+
+.. code-block:: bash
+
+    cd ~/ws_rmw_zenoh
+    rosdep install --from-paths src --ignore-src --rosdistro {DISTRO} -y
+
+3. Build the workspace using Colcon:
+
+.. code-block:: bash
+
+    source /opt/ros/{DISTRO}/setup.bash
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+
+Switch to rmw_zenoh_cpp
+------------------------
+
+Switch from other rmw to rmw_zenoh_cpp by specifying the environment variable.
+
+.. code-block:: bash
+
+   export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+
+Run the talker and listener
+---------------------------
+
+Now run ``talker`` and ``listener`` to test Zenoh.
+
+Start the Zenoh router
+
+.. code-block:: bash
+
+   # terminal 1
+   ros2 run rmw_zenoh_cpp talker rmw_zenohd
+
+.. 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.
+    Instead, nodes will receive discovery information about other peers via the Zenoh router's gossip functionality.
+
+.. code-block:: bash
+
+   # terminal 2
+   export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+   ros2 run demo_nodes_cpp talker
+
+.. code-block:: bash
+
+   # terminal 3
+   export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+   ros2 run demo_nodes_cpp listener
+
+.. note:: Remember to source your ROS 2 setup script before running these commands.
+