Hi everyone,
New year, new RMW!
We’ve released rmw_zenoh binaries for ROS 2 Rolling, Jazzy and Humble on respective Ubuntu (amd64, arm64) and RHEL (amd64) platforms.
The package can be installed with the command sudo apt install ros-<DISTRO>-rmw-zenoh-cpp. (Replace <DISTRO> with either rolling, jazzy or humble).
The binaries will be available after the next package sync for the respective distributions but in the meanwhile, you can get the pre-release binaries from the testing repository by following this guide.
Note: We strongly recommend using
rmw_zenohon Jazzy and Rolling as these versions are feature complete and have been extensively tested. We have not tested the Humble version ourselves and are expecting the community to help maintain it.
Once installed, you’ll be able to switch to rmw_zenoh by setting the RMW_IMPLEMENTATION environment variable to rmw_zenoh_cpp as seen below.
export RMW_IMPLEMENTATION=rmw_zenoh_cpp
Don’t forget to run the Zenoh router in a separate terminal prior!
ros2 run rmw_zenoh_cpp rmw_zenohd
For more information on usage, configuration, and known issues please see the README. An overview of rmw_zenoh along with its capabilities was presented at ROSCon 2024 Odense and the recording is available here.
Finally, a reminder that rmw_zenoh is not yet an official Tier-1 middleware in ROS 2 but our goal is to get there for the Kilted release in May. We hope these binaries will make it easier for the community to switch to rmw_zenoh and provide feedback!
, this makes it easy for Zenoh integration.