Hi everyone,
New year, new RMW!
Weโve 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_zenoh
on 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, youโll 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
Donโt 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!