Skip to content

ROS Zenoh Bridge

Connect two ROS machine via zenoh bridge
just read the readme

versions

  • ubuntu 22.04
  • ROS humble
  • cycloneDDS
  • zenoh 1.2.0
  • zenoh-plugin-ros2dds 1.2.0

ROS test

Run pub/sub without any restriction between the machine

Remote machine

1
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 topic pub /my_int32_topic std_msgs/msg/Int32 "{ data: 10 }

Local machine

1
ros2 topic echo /my_int32_topic

Using Zenoh

Close/ restrict the DDS traffic between machine Config remote machine as another domain ROS_DOMAIN_ID=2 or set it ROS_LOCALHOST_ONLY=1

Run zenoh bridge in router mode (default)

Remote machine

publisher
1
2
3
ROS_DOMAIN_ID=2 RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 topic pub /my_int32_topic std_msgs/msg/Int32 "{ data: 10 }"
# OR
ROS_LOCALHOST_ONLY=1 RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 topic pub /my_int32_topic std_msgs/msg/Int32 "{ data: 10 }"
zenoh bridge
1
2
3
ROS_DOMAIN_ID=2 ROS_DISTRO=humble ./zenoh-bridge-ros2dds
# OR
ROS_LOCALHOST_ONLY=1  ROS_DISTRO=humble ./zenoh-bridge-ros2dds

Local machine

zenoh bridge
1
ROS_DISTRO=humble ./zenoh-bridge-ros2dds -e tcp/10.0.0.10:7447
subscriber
1
ros2 topic echo /my_int32_topic

client bridge connect to remote bridge

The zenoh-bridge-ros2dds is by default started in router mode
This means it's listening for incoming TCP connections by remote bridges or any Zenoh application on port 7447 via any network interface. It does perform discovery via scouting over UDP multicast or gossip protocol, but doesn't auto-connect to anything.

autoconnect

autoconnect.json5
1

Warning

l.o multicast disabled by default
don't work with environment variable ROS_LOCALHOST_ONLY=1

Remote machine

publisher
1
ROS_DOMAIN_ID=2 RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 topic pub /my_int32_topic std_msgs/msg/Int32 "{ data: 10 }"
zenoh bridge
1
ROS_DOMAIN_ID=2 ROS_DISTRO=humble ./zenoh-bridge-ros2dds --config autoconnect.json5

Local machine

zenoh bridge
1
ROS_DISTRO=humble ./zenoh-bridge-ros2dds --config autoconnect.json5
subscriber
1
ros2 topic echo /my_int32_topic

Bridge Admin

Running Bridge with --rest-http-port 8000 expose web interface to query bridge state

Description
http://\<bridge-IP>:8000/@/local/ros2/node/** ROS nodes with their interfaces discovered by the bridge
http://\<bridge-IP>:8000/@//ros2/node/* ROS nodes discovered by all bridges
http://\<bridge-IP>:8000/@/local/ros2/route/** All routes between ROS interfaces and Zenoh established by the bridge
more
http://localhost:8001/@/*/ros2/node/**
 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
@/e25ed72d391828f7b6fbf87c5ea6e947/ros2/node/01102f4fbeea030c1eaab469000001c1/_ros2cli_daemon_0_ee39487b11b244b5b78a51b784d6e0ea
    {"action_clients":[],"action_servers":[],"publishers":[{"name":"/parameter_events","type":"rcl_interfaces/msg/ParameterEvent"},{"name":"/rosout","type":"rcl_interfaces/msg/Log"}],"service_clients":[],"service_servers":[],"subscribers":[]}
@/e25ed72d391828f7b6fbf87c5ea6e947/ros2/node/01100c7dd6bcb38d4918646d000001c1/_ros2cli_1340499
    {"action_clients":[],"action_servers":[],"publishers":[{"name":"/rosout","type":"rcl_interfaces/msg/Log"},{"name":"/parameter_events","type":"rcl_interfaces/msg/ParameterEvent"}],"service_clients":[],"service_servers":[],
    "subscribers":[{"name":"/my_int32_topic","type":"std_msgs/msg/Int32"}]}
@/5d61a72ea243edb2653eecef8632fee8/ros2/node/01100e33ce14108eacd1a16c000001c1/_ros2cli_4554
    {"action_clients":[],"action_servers":[],
    "publishers":[{"name":"/my_int32_topic","type":"std_msgs/msg/Int32"},
        {"name":"/rosout","type":"rcl_interfaces/msg/Log"},
        {"name":"/parameter_events","type":"rcl_interfaces/msg/ParameterEvent"}],
    "service_clients":[],"service_servers":[],"subscribers":[]}

Config

zenoh config from github

Allow /Deny

Allow / Deny

In the config we set Allow key or Deny key Both of them not work

allow.json5
1
bridge log
1
2
INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds: Node /_ros2cli_5087 declares Publisher /my_int32_topic: std_msgs/msg/Int32 - Allowed
INFO tokio-runtime-worker ThreadId(04) zenoh_plugin_ros2dds::routes_mgr: Route Publisher (ROS:/my_int32_topic -> Zenoh:my_int32_topic) created

pub_max_frequencies

Config maximum publish rate for topic

allow.json5
1


1
2
3
4
5
ros2 topic hz /my_int32_topic 
average rate: 0.500
    min: 2.001s max: 2.001s std dev: 0.00019s window: 2
average rate: 0.500
    min: 2.001s max: 2.001s std dev: 0.00017s window: 3