cu-zenoh-ros-sink

This is a Copper sink task that publishes messages to ROS 2 via Zenoh middleware. It allows seamless integration between Copper applications and ROS 2 nodes by using the RMW zenoh implementation.

Configuration

The sink requires the following configuration parameters:

• zenoh_config_json: Zenoh config as json string (optional).
• domain_id: ROS domain ID (optional, defaults to "0"),
• namespace: The ROS namespace (optional, defaults to "copper").
• node: The ROS node name (optional, defaults to "node").
• topic: The ROS topic name to publish to (optional, defaults to "copper").

Example configuration in a Copper application:

(
    tasks: [
        (
            id: "publisher",
            config: {
                "domain_id": 0,
                "namespace": "copper",
                "node": "sink_node",
                "topic": "output",
            }
        ),
    ],
    // ... rest of the configuration
)

Integration with ROS 2

To receive messages in ROS 2:

1. Install "rmw_zenoh":

sudo apt install ros-$ROS_DISTRO-rmw-zenoh

2. Set the RMW implementation to Zenoh:

export RMW_IMPLEMENTATION=rmw_zenoh

3. Run your ROS 2 nodes as usual - they will automatically receive messages published by this sink.

Limitations

• Payload has to implement RosMsgAdapter trait (see cu_ros_payloads).
• QoS is not implemented (default QoS).
• Only works with Humble distribution (hash type not implemented).
• No service implemented.

Caveats

• Add an extra serialization step to CDR format that could impact performance.

See the crate cu29 for more information about the Copper project.