The Eclipse Zenoh: Zero Overhead Pub/sub, Store/Query and Compute.
Zenoh (pronounce /zeno/) unifies data in motion, data at rest and computations. It carefully blends traditional pub/sub with geo-distributed storages, queries and computations, while retaining a level of time and space efficiency that is well beyond any of the mainstream stacks.
Check the website zenoh.io and the roadmap for more detailed information.
👉 Install latest release: see below
👉 Docker image: see below
👉 Build "main" branch: see below
ROS1 is a well-known mature platform for building robotic systems. Despite the fact that next generation of ROS - ROS2 is released long time ago, many developers still prefer using ROS1. In order to integrate ROS1 systems to Zenoh infrastructure, as it was done for DDS/ROS2, ROS1 to Zenoh Bridge was designed.
To install the latest release of either the ROS1 plugin for the Zenoh router, either the zenoh-bridge-ros1
standalone executable, you can do as follows:
All release packages can be downloaded from:
Each subdirectory has the name of the Rust target. See the platforms each target corresponds to on https://doc.rust-lang.org/stable/rustc/platform-support.html
Choose your platform and download:
- the
zenoh-plugin-ros1-<version>-<platform>.zip
file for the plugin.
Then unzip it in the same directory thanzenohd
or to any directory where it can find the plugin library (e.g. /usr/lib) - the
zenoh-bridge-ros1-<version>-<platform>.zip
file for the standalone executable.
Then unzip it where you want, and run the extractedzenoh-bridge-ros1
binary.
Add Eclipse Zenoh private repository to the sources list:
echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
sudo apt update
Then either:
- install the plugin with:
sudo apt install zenoh-plugin-ros1
. - install the standalone executable with:
sudo apt install zenoh-bridge-ros1
.
⚠️ WARNING⚠️ : Zenoh and its ecosystem are under active development. When you build from git, make sure you also build from git any other Zenoh repository you plan to use (e.g. binding, plugin, backend, etc.). It may happen that some changes in git are not compatible with the most recent packaged Zenoh release (e.g. deb, docker, pip). We put particular effort in mantaining compatibility between the various git repositories in the Zenoh project.
⚠️ WARNING⚠️ : As Rust doesn't have a stable ABI, the plugins should be built with the exact same Rust version thanzenohd
, and using forzenoh
dependency the same version (or commit number) than 'zenohd'. Otherwise, incompatibilities in memory mapping of shared types betweenzenohd
and the library can lead to a"SIGSEV"
crash.
⚠️ WARNING⚠️ : We failed to build the plugin's tests on the system with 2(1)GB of RAM(swap) as ld ran out of memory, please pay attention to this fact!
In order to build the ROS1 to Zenoh Bridge, you need first to install the following dependencies:
-
Rust. If you already have the Rust toolchain installed, make sure it is up-to-date with:
rustup update
-
On Linux, make sure the
llvm
andclang
development packages are installed:- on Debians do:
sudo apt install llvm-dev libclang-dev
- on CentOS or RHEL do:
sudo yum install llvm-devel clang-devel
- on Alpine do:
apk install llvm11-dev clang-dev
- on Debians do:
Once these dependencies are in place, you may clone the repository on your machine:
git clone https://github.com/eclipse-zenoh/zenoh-plugin-ros1.git
cd zenoh-plugin-ros1
cargo build --release
The standalone executable binary zenoh-bridge-ros1
and a plugin shared library (*.so
on Linux, *.dylib
on Mac OS, *.dll
on Windows) to be dynamically
loaded by the zenoh router zenohd
will be generated in the target/release
subdirectory.
The zenoh-bridge-ros1
standalone executable is also available as a Docker images for both amd64 and arm64. To get it, do:
docker pull eclipse/zenoh-bridge-ros1:latest
for the latest releasedocker pull eclipse/zenoh-bridge-ros1:main
for the main branch version (nightly build)
Usage: docker run --init --net host eclipse/zenoh-bridge-ros1
It supports the same command line arguments than the zenoh-bridge-ros1
(see below or check with -h
argument).
If you want to run examples or tests, you need to install ROS1:
sudo apt install -y ros-base
There is a set of example utilities illustarating bridge in operation. Here is a description on how to configure the following schema:
_____________________________ ________________________________
| | | |
| rosmaster_1 | | rosmaster_2 |
| | | |
| ros1_publisher -> zenoh-bridge-ros1 -> zenoh -> zenoh-bridge-ros1 -> ros1_subscriber |
|___________________________| |______________________________|
# build the bridge from source
cargo build -p zenoh-bridge-ros1
cd target/debug/
# terminal 1:
./zenoh-bridge-ros1 --with_rosmaster true --ros_master_uri http://localhost:10000
# terminal 2:
./zenoh-bridge-ros1 --with_rosmaster true --ros_master_uri http://localhost:10001
# terminal 3:
ROS_MASTER_URI=http://localhost:10000 rostopic pub /topic std_msgs/String -r 1 test_message
# terminal 4:
ROS_MASTER_URI=http://localhost:10001 rostopic echo /topic
Once completed, you will see the following exchange between ROS1 publisher and subscriber:
Currently, ROS1 to Zenoh Bridge is based on rosrust library fork. Some limitations are applied due to rosrust's implementation details, and we are re-engineering rosrust to overcome this
- all topic names are bridged as-is
- there is a performance impact coming from rosrust