C++ Bindings
Zenoh (Rust)
Zenoh (C++)
RMW
rmw_zenoh_cpp
RCL
ROS 2 Apps
rclcpp/rclpy/rclc
Direct hiroz
Zenoh (Rust)
hiroz
hiroz Apps
• Pure Rust
• Optional ROS 2 deps
• ROS 2 Compatible
Zenoh-Powered ROS 2:
Three Integration Paths
Rust Native
Zenoh (Rust)
hiroz
rmw feature enabled
RMW
rmw_zenoh_rs
RCL
ROS 2 Apps
rclcpp/rclpy/rclc