Eclipse Zenoh Integration

The ADORe CLI bundles the ROS Zenoh bridge libraries and ROS Zenoh DDS plugin, enabling Zenoh-based communication alongside or in place of the default FastDDS transport.

Transport Modes

ADORe supports two approaches for Zenoh transport:

RMW Transport (rmw_zenoh_cpp) Configure ROS to use Zenoh as the underlying RMW implementation. This replaces FastDDS entirely and requires no bridge node. This can be configured in the adore.env file.

Bridge Node A ROS node that bridges selected topics between FastDDS and Zenoh, allowing both transports to coexist. The bridge node is located at:

ros2_workspace/src/adore_interfaces/zenoh_message_bridge

Default Behavior

Both the Zenoh bridge node and a Zenoh router start automatically with the ADORe CLI. To change this, modify adore.env.

Configuration

File	Purpose
zenoh_router_config.json5	Zenoh router configuration
zenoh_bridge_config.yaml	Bridge node topic and connection configuration
adore.env	Startup behavior for the router and bridge services

Further Reading

See ros2_workspace/src/adore_interfaces/zenoh_message_bridge/README.md for full integration details.