Zenoh on voxl-2
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Hi I'm trying to use zenoh as middleware in my voxl-2 I can see it defaults to microdds. is there any support for zenoh by voxl-services.
I'm not able to build it from source for foxy. any suggestions on this?
thank you. -
Hi I'm trying to use zenoh as middleware in my voxl-2 I can see it defaults to microdds. is there any support for zenoh by voxl-services.
I'm not able to build it from source for foxy. any suggestions on this?
thank you.Hi, @voxl-phoenix ,
zenoh rmw is only available for ROS 2 humble, jazzy, and rolling. Foxy is too old and it is not supported (and I don't think it will ever be).
However, you can try https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds if you want to use zenoh between PX4 and the companion computer while keeping the default ROS 2 DDS Middleware unchanged. The original PR that added Zenoh to PX4 should walk you trough the required steps: https://github.com/PX4/PX4-Autopilot/pull/22017
Note howevert that- the original PR used https://github.com/eclipse-zenoh/zenoh-plugin-dds instead of the more recent zenoh-plugin-ros2dds.
- the latest zenoh version used in PX4 is quite different from the first one.
Therefore, use that more as a guideline, nothing more.
You also have
- https://github.com/PX4/PX4-Autopilot/pull/23462, which updated the PX4 zenoh version to 1.0.0
- https://github.com/PX4/PX4-Autopilot/pull/24476, the latest open PR that adds support to zenoh rmw
Please read through all of them carefully as they are the only source of PX4 doc for zenoh. Official PX4 doc will be published once the interface will exit the testing stage
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Hi, @voxl-phoenix ,
zenoh rmw is only available for ROS 2 humble, jazzy, and rolling. Foxy is too old and it is not supported (and I don't think it will ever be).
However, you can try https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds if you want to use zenoh between PX4 and the companion computer while keeping the default ROS 2 DDS Middleware unchanged. The original PR that added Zenoh to PX4 should walk you trough the required steps: https://github.com/PX4/PX4-Autopilot/pull/22017
Note howevert that- the original PR used https://github.com/eclipse-zenoh/zenoh-plugin-dds instead of the more recent zenoh-plugin-ros2dds.
- the latest zenoh version used in PX4 is quite different from the first one.
Therefore, use that more as a guideline, nothing more.
You also have
- https://github.com/PX4/PX4-Autopilot/pull/23462, which updated the PX4 zenoh version to 1.0.0
- https://github.com/PX4/PX4-Autopilot/pull/24476, the latest open PR that adds support to zenoh rmw
Please read through all of them carefully as they are the only source of PX4 doc for zenoh. Official PX4 doc will be published once the interface will exit the testing stage
@Beniamino-Pozzan Thank you so much for the info,
I wanted to try it and realised foxy has no support and with Ubuntu 18.04 on voxl-2 it is not possible to use any other ROS-2 installations easily. I will use ros2 plugin by keeping microdds as default middleware.
I hope newer ROS versions will be available for VOXL-2.
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