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    Julien Enoch
    @JEnoch
    Hi all!
    zenoh 0.5.0-beta.5 is now available (after a beta.4 where 2 issues were quickly detected and fixed).
    See the changelog and where to get it here:
    Joe Speed
    @joespeed
    ROS Rust WG Nov 5th 6PM Paris, you might suggest 5 minute ROS 2 zenoh-plugin-dds intro for agenda https://discourse.ros.org/t/ros-rust-wg-meeting-2020-11-05/17101
    G_Ivo
    @GregoryIvo
    Hi everyone,
    installing zenoh on a x86 machine though pip3 worked perfectly!
    however, doing the same on a raspberry pi 3 B+ seems to not.
    image.png
    any suggestions?
    best,
    Gregory
    Ruffin
    @ruffsl
    Coordinating with @joespeed , the next ROS Rust WG agenda will focus on Zenoh:
    Julien Enoch
    @JEnoch

    Hi @GregoryIvo ,
    Unfortunately we don’t provide a Python wheel for armv7 (neither armv6) yet. Reason is there is no manylinux image for those, and I didn’t found time yet to produce one (probably besed on dockcross).

    Now pip is trying to install the source distribution on your rasp-3B+. However, as zenoh-python is actually not written in Python but in Rust (leveraging maturin), pip can’t find appropriate instructions to build zenoh-python. I’m not sure if it’s feasible nor desirable to make the source distribution able to download/install all the Rust toolchain + maturin (as it would take lot of resources on possibly small devices). Thus I think I’ll remove the source distribution in the next releases.

    Anyhow, waiting for armv6/armv7 compatible wheels (I’ll try to work on this for the next beta6 release), your only solution is to build zenoh-python on your raspberry, following the instructions here: https://github.com/eclipse-zenoh/zenoh-python#how-to-build-it

    Another solution is to install a 64-bit OS on your Raspberry Pi 3B+, as we provide aarch64 wheels for zenoh-python (there is a manylinux for aarch64!)
    G_Ivo
    @GregoryIvo
    @JEnoch This is the exact information I need, Thank you for your quick and detailed response!
    Julien Enoch
    @JEnoch
    Hi all, and especially @milangroshev ,
    The InfluxDB backend is now implemented in the master branch.
    See its documentation here: http://zenoh.io/docs/manual/backend-influxdb/
    I also added general documentation wrt. zenoh plugins and backends/storages usages here:
    Feel free to ask questions or for help using those !
    Milan Groshev
    @milangroshev
    Hi @JEnoch , thank you very much. This is very useful for us. We will check it out in the next weeks and let you know.
    Yong He
    @heyong4725
    Hi @JEnoch , regarding to backend and plugins, I would propose move some of them (e.g. Influx DB) out of zenoh core repo, and put them in eclipse-zenoh repo. If team can produce a good documentation on how to add new backend/plugin, this will let the zenoh community flourish on developing many different backend/plugins. Of course, core backend/plugins (e.g. HTTP, memory etc) should remain in core repo eclipse-zenoh/zenoh.
    Julien Enoch
    @JEnoch
    Hi @heyong4725 , sure, that makes perfect sense. Actually, I was planning to do this after completion of the File System Backend, because I want to be sure that the Backend/Storage traits are complete and stable enough to be made publicly available.
    Charles Cross
    @spiderkeys_gitlab
    Having a bit of trouble getting the Zenoh DDS Plugin to work. I'm not seeing any connection attempt being made to the Zenoh internet routing service when using:
    LD_LIBRARY_PATH=/usr/local/lib/ cargo +nightly run -- --scope /demo/mr -e tcp/172.105.86.91:7447
    Following the example given in the readme with the demo talker/listener nodes.
    Charles Cross
    @spiderkeys_gitlab

    Update: Had to change the API used in dzd a bit, as what was happening was an empty config struct was getting getting used in the Zenoh object somehow:
    spiderkeys/zenoh-plugin-dds@9004169

    Now it attempts to create a connection to the specified IP address (which I can ping), but the connection to that port is being refused:

    WARN  zenoh_protocol::link::tcp] Can not create a new TCP link bound to 172.105.86.91:7447: Connection refused (os error 111)
    Angelo Corsaro
    @kydos
    Hello @spiderkeys_gitlab , I guess the problem is that the router is not running on that speficif VM. Let me check.
    @spiderkeys_gitlab, I can confirm that is the problem, this is one of our VM on Linode that we use for experiments thus I guess that somebody accidentally stopped it. I’ll restart it right off. Let me know if you still encounter issues.
    One more thing, if you want to see log information, you just need to run you application with the environement variable RUST_LOG=debug set
    Angelo Corsaro
    @kydos
    The different levels of logging supported are those explained here
    Angelo Corsaro
    @kydos
    P.S. @spiderkeys_gitlab, this VM is sitting in Germany, that won’t create issues for some simple tests, but if you need lower latencies we can spawn one closer to your region. Just let me know.
    3 replies
    Esteve Fernandez
    @esteve
    @gbiggs @codebot I'm adding support for the rosgraph in rmw_zenoh and I started with get_topic_names_and_types (see https://github.com/esteve/rmw_zenoh/tree/get-topic-names-and-types), but I'm having issues with https://github.com/esteve/rmw_zenoh/blob/get-topic-names-and-types/rmw_zenoh_cpp/src/rmw_get_topic_names_and_types.cpp
    Who would be the best person to ask questions about the rosgraph in rmw?
    Luca Cominardi
    @Mallets
    Hello all, zenoh-pico has been made available! zenoh-pico is a pure client C API for zenoh and mainly targets small devices. Deb, rpm, and tgz packages for various architectures have been made available already here.
    3 replies
    Charles Cross
    @spiderkeys_gitlab
    @kydos Thanks for checking. I've just attempted to connect again at 172.105.86.91:7447 and the connection is still being refused. Do I have the right port number?
    Angelo Corsaro
    @kydos
    Hello @spiderkeys_gitlab try now. I was doing some test and had an ssh session w/o nohup… Went away and you can imagine the rest. I’ve now started the script that runs the router and restart in case of failures.
    Let me know if you still have problems, I’ll check later tonight (I am in Paris Time)
    Charles Cross
    @spiderkeys_gitlab
    Thanks @kydos. With a couple minor modifications to the source, I was able to get things connected and transmitting string messages successfully! After getting that working, I tried to get our video streaming node bridged as well, but am running into a crash when dzd receives the video frame messages. I put some info in this issue:
    eclipse-zenoh/zenoh-plugin-dds#21
    Angelo Corsaro
    @kydos
    @spiderkeys_gitlab you should get an assertion, since the video should be fragmented by DDS and reassembly is not inplemented yet. One approach is to increase Cyclone default fragment siza as it is way smaller than the 64K allwed by UDP.
    Charles Cross
    @spiderkeys_gitlab
    Gotcha, I'll give that a try and drop the bitrate on our video to keep it under 64K
    Charles Cross
    @spiderkeys_gitlab
    @kydos That worked :) getting ~41 FPS out of our 60FPS stream, and latency is a bit bad going from USWest->Germany->USEast, but its a great starting point. How hard would it be to bring up a California server?
    Angelo Corsaro
    @kydos
    @spiderkeys_gitlab we’ll set up a router in CA. It should help reducing the latency, yet, these are micro instances for testing, if you are trying to measure achievable perfances you may want to set up something that is more resourceful. In any case keep me posted.
    Angelo Corsaro
    @kydos
    Nice demo from Greg Ivo an #Eclipse intern using #turtlebot #ROS2 and #zenoh https://youtu.be/at6JYTEIgzM
    Joe Speed
    @joespeed
    California Zenoh router sounds lovely😁 So we can live stream @spiderkeys_gitlab submersible from Lake Tahoe. Check out their video of taking iPhone 12 diving https://www.cnet.com/news/is-iphone-12-waterproof-water-resistant-our-water-test-results/
    Angelo Corsaro
    @kydos
    Hello zenohers , first off I’d like to wish you all a 2021 full of Peace, Joy, Health and Success.
    That said, I wanted to let you know that within the core team we have started to have some discussion on our wishlist of the 2021 Q1 Roadmap. Please make sure to post your wishes so that we can take it for consideration.
    We’ll post our proposal by the end of the week and will be looking for comments / feedback.
    Geoffrey Biggs
    @gbiggs
    Sounds awesome! Looking forward to seeing what you're planning
    aohwang
    @aohwang

    Hi friends, I am new to the Zenoh. I want to use the Zenoh to make Cyclone DDS work across different networks. But I have some questions about how it works, please correct me if my understanding is wrong.

    First, I need run Zenoh routers in the two networks and make them find each other.
    Second, I need run two dzd daemon in the two networks. According to my understanding, in each network the dzd daemon will discover the Zenoh router automatically without any configuration.

    Is it right?

    Thanks
    Angelo Corsaro
    @kydos
    Hello @aohwang, let’s call your two networks N1 and N2.
    aohwang
    @aohwang
    Oh sorry, it seems that I am wrong
    Angelo Corsaro
    @kydos
    You can start one router on N1 and when starting the router on N2 you provide as a startup configuration the locator of the N1 router
    aohwang
    @aohwang
    Ok
    Angelo Corsaro
    @kydos
    For example, assume the public address of the host on which you started the router 176.58.123.75, then you would start the router on N2 with the -e tcp/172.58.123.75:7447 option
    For completeness sake, please keep in mind that you are not forced to have 2 routers, one would be sufficient.