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Zenoh networking

Zenoh networking is a unified data-centric communication protocol A unified data-centric communication protocol is a networking model where:

Applications communicate by sharing data, not by talking to specific endpoints — and the same protocol supports multiple communication patterns.

Unified

A single protocol supports:

  • Publish / Subscribe → streaming data
  • Request / Reply (Query) → asking for data or computation
  • Storage / Replay → retrieving past data

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Demo: Minimal pub/sub using python binding

minimal Pub/Sub example the zenoh default config, 

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import zenoh
import time
import multiprocessing

zenoh.init_log_from_env_or("DEBUG")

KEY_EXPRESSION = "demo/example"

def publisher():
    config = zenoh.Config()
    session = zenoh.open(config)
    pub = session.declare_publisher(KEY_EXPRESSION)
    while True:
        pub.put('Hello, Zenoh!')
        time.sleep(1)

def subscriber():
    config = zenoh.Config()
    session = zenoh.open(config)
    sub = session.declare_subscriber(KEY_EXPRESSION, lambda sample: print(f'Received: {sample.payload.to_string()}'))
    while True:
        time.sleep(1)

if __name__ == '__main__':
    pub_process = multiprocessing.Process(target=publisher)
    sub_process = multiprocessing.Process(target=subscriber)

    pub_process.start()
    sub_process.start()

    pub_process.join()
    sub_process.join()

bash output zenoh::net::runtime: Using ZID: 5c878ff12d11c0d9330259f34cd29fac zenoh::net::runtime: Using ZID: 42209fd2b31a654f83739cebf2e2b000 zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/[fe80::b022:f1eb:e86:2654]:37185 zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/[fe80::b022:f1eb:e86:2654]:45353 zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/10.100.102.15:37185 zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/10.100.102.15:45353 zenoh::net::runtime::orchestrator: zenohd listening scout messages on 224.0.0.224:7446 zenoh::net::runtime::orchestrator: zenohd listening scout messages on 224.0.0.224:7446

  • each of the zenoh process listen to multicast on ``
  • the transport between the peer node base on tcp

ROS Bridge

Python bindings

Zenoh pico

ROS RMW

CPP bindings

Resource

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