I have found the log message,
firstly I start the zenoh bridge dds and it gives me the 'New Router DDS ' message.
Then I started the ros2 node hello_publisher with the topic name hello_world.
The log message shows:
[2021-05-17T09:52:36Z DEBUG zenoh_bridge_dds] DiscoveredPublication(rt/hello_world, std_msgs::msg::dds_::String_, None [2021-05-17T09:52:36Z DEBUG zenoh_bridge_dds] Declaring resource /rt/hello_world [2021-05-17T09:52:36Z DEBUG zenoh::net::routing::resource] Register resource /rt/hello_world [2021-05-17T09:52:36Z INFO zenoh_bridge_dds] New route: DDS 'rt/hello_world' => zenoh '/rt/hello_world' (rid=16) with type 'std_msgs::msg::dds_::String_' [2021-05-17T09:52:36Z DEBUG zplugin_dds] Local Domain Participant IH = 10456347892458033829 [2021-05-17T09:52:36Z DEBUG zplugin_dds] Discovery data from Participant with IH = 10456347892458033829 [2021-05-17T09:52:36Z DEBUG zplugin_dds] Discovered endpoint is keyless: true [2021-05-17T09:52:36Z DEBUG zplugin_dds] Ignoring discovery from local participant: rt/hello_world
After that I started on my local machine the python script, the log message showed :
New session link established from 6F2AC0C5A89D4050AC9473305CD6E25C: tcp/xx.xx.9.50:7447 => tcp/xx.xx.8.224:33470
I think the connection is already built, and the zenoh bridge has also found the publisher on topic hello_world.
[2021-05-17T10:05:43Z DEBUG zenoh::net::routing::resource] Register resource rt/hello_world [2021-05-17T10:05:43Z DEBUG zenoh::net::routing::pubsub] Register peer subscription rt/hello_world (peer: 6F2AC0C5A89D4050AC9473305CD6E25C)
JEnoch (Julien Enoch):
The ROS2 daemon is only queried by the ROS2 cli tools. Regular ROS2 applications directly use their own ROS2 graph cache managed by rcl+rmw
This is not necessarily true. The daemon was mainly made for the CLI tools to keep them responsive and accurate, but other applications can use it if they want to. I think that rviz uses the daemon, actually.
What we are now considering is to allow the user to configure a zenoh bridge with a set of topics for which he wants the discovered entities to be propagated to a remote bridge. Receiving those discovery information, the remote bridge will create the corresponding DDS entities, allowing DDS advertisement and completion of the ROS2 graph by all ROS2 nodes.
Of course a user will be able to set "*" for this set of "propagated" topics, meaning that all DDS entities will be proactively created, but with consequences on discovery time and scalability.
I think this gives the best of both worlds. It allows us to fence of different sections of a widely-distributed application, while also allowing the dynamic nature of ROS to be maintained where it is needed. And for unknown system introspection,
* can be used.
Hi! We have been testing rmw_zenoh in the past week, and we were able to run a basic distributed application in the following setup:
ROS1 node -> ros1_bridge (with the ROS2 side running rmw_zenoh) -> Zenoh Router -> Android emulator -> ROS2 node (running with rmw_zenoh)
We are also looking at adding support for shared memory transport in rmw_zenoh (we got delayed this week by other projects). From what I have seen so far, I think that rmw_zenoh for ROS2 apps could provide a superior solution compared to using DDS on the ROS2 side and then bridging it over Zenoh. It just brings in unnecessary complexity, if the whole system could just run Zenoh as the ROS2 backend. Obviously, rmw_zenoh is not yet production ready, and as we discussed it here before, it might make sense to reimplement it in Rust instead of using the Zenoh-C binding, but in the long run this might become a better solution.
Hi zenohers and especially the ROS2 users!
I just merged a bunch of updates in the master branch of zenoh-plugin-dds. It now includes:
zenohdbinary). And you can deploy those routers wherever you want, as soon as they are interconnected.
@kydos Thanks for your reply. This feature is important for device discovery and identification. I'm looking forward for this feature release.
Absolutely, this is one of the reasons why we wanted all messages in our protocol to support user attachments. We are about to finalise the features list for June and July — we’ll try to squeeze this in June. BTW, once the API will expose this feature you’ll be able to attach properties to scout/hello, open as well as to data messages. We keep the working-feature-list on the [github wiki] (https://github.com/eclipse-zenoh/zenoh/wiki/2021). I’ll let you know once that is updated.
GetRequest::reply()as many time as you want.