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A Zenoh plug-in for ROS2 with a DDS RMW. See https://discourse.ros.org/t/ros-2-alternative-middleware-report/ for the advantages of using this plugin over other DDS RMW implementations.
| Date | Stars |
|---|---|
| 2026-07-24 | 291 |
| 2026-07-25 | 291 |
| 2026-07-28 | 291 |
| 2026-07-30 | 291 |
| 2026-08-06 | 291 |
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<img src="https://raw.githubusercontent.com/eclipse-zenoh/zenoh/main/zenoh-dragon.png" height="150"> [](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/actions/workflows/release.yml) [](https://github.com/eclipse-zenoh/roadmap/discussions) [](https://discord.gg/2GJ958VuHs) [](https://choosealicense.com/licenses/epl-2.0/) [](https://opensource.org/licenses/Apache-2.0) # Eclipse Zenoh 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](http://zenoh.io) and the [roadmap](https://github.com/eclipse-zenoh/roadmap) for more detailed information. ------------------------------- # A Zenoh bridge for ROS 2 over DDS [ROS](https://ros.org/) (the Robot Operating System) is a set of software libraries and tools allowing to build robotic applications. In its version 2, ROS 2 relies mostly on [O.M.G. DDS](https://www.dds-foundation.org/) as a [middleware for communications](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Different-Middleware-Vendors.html). This plugin bridges all ROS 2 communications using DDS over Zenoh. While a Zenoh bridge for DDS already [exists](https://github.com/eclipse-zenoh/zenoh-plugin-dds) and helped lot of robotic use cases to overcome some [wireless connectivity](https://zenoh.io/blog/2021-03-23-discovery/), [bandwidth](https://zenoh.io/blog/2021-09-28-iac-experiences-from-the-trenches/) and [integration](https://zenoh.io/blog/2021-11-09-ros2-zenoh-pico/) issues, using a bridge dedicated to ROS 2 brings the following advantages: - A better integration of the ROS graph (all ROS topics/services/actions can be seen across bridges) - A better support of ROS toolings (`ros2`, `rviz2`...) - Configuration of a ROS namespace on the bridge, instead of on each ROS Nodes - Easier integration with Zenoh native applications (services and actions are mapped to Zenoh Queryables) - More compact exchanges of discovery information between the bridges ## Plugin or bridge ? This software is built in 2 ways to choose from: - `zenoh-plugin-ros2dds`: a Zenoh plugin - a dynamic library that can be loaded by a Zenoh router - `zenoh-bridge-ros2dds`: a standalone executable The features and configurations described in this document applies to both. Meaning the _"plugin"_ and _"bridge"_ words are interchangeables in the rest of this document. ## How to install it To install the latest release of either the DDS plugin for the Zenoh router, either the `zenoh-bridge-ros2dds` standalone executable, you can do as follows: ### Manual installation (all platforms) All release packages can be downloaded from: - [https://download.eclipse.org/zenoh/zenoh-plugin-ros2dds/latest/](https://download.eclipse.org/zenoh/zenoh-plugin-ros2dds/latest/) 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](https://doc.rust-lang.org/stable/rustc/platform-support.html) Choose your platform and download: - the `zenoh-plugin-ros2dds-<version>-<platform>.zip` file for the plugin. Then unzip it in the same directory than `zenohd` or to any directory where it can find the plugin library (e.g. /usr/lib) - the `zenoh-bridge-ros2dds-<version>-<platform>.zip` file for the standalone executable. Then unzip it where you want, and run the extracted `zen
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matched fp:3cbdb3b596d8dc1a, topic:robotics, topic:ros2