Eclipse Zenoh

An open-source communication protocol unifying publish-subscribe, storage, and query, usable in ROS 2 as a DDS replacement.

Zenoh is an open-source communication protocol and implementation hosted by the Eclipse Foundation, developed mainly by the company ZettaScale, with its core written in Rust. It unifies publish-subscribe, data storage, and querying under one interface, designed to work across everything from microcontrollers to the cloud and to span routers and wide-area networks. DDS often runs into heavy node-discovery traffic and configuration complexity over Wi-Fi, in multi-robot setups, or across network segments; Zenoh eases these problems with a router-based approach (zenohd). ROS 2 officially provides rmw_zenoh, letting Zenoh serve as the underlying middleware in place of DDS, and a zenoh-bridge can also carry existing DDS traffic across.

ExampleStart a Zenoh router in ROS 2, then set RMW_IMPLEMENTATION=rmw_zenoh_cpp so the robot and a remote workstation on a different network segment can exchange topics with each other.

Also called

rmw_zenoh

Related

Robot Operating System 2 · ROS Middleware Interface (RMW) · Data Distribution Service · Eclipse Cyclone DDS · Publish-Subscribe · Dataflow-Oriented Robotic Architecture (dora)

Sources

Eclipse Zenoh 官网 (Chinese)
rmw_zenoh GitHub