Networking
Configure ros-z's Zenoh transport layer for optimal performance in your deployment environment. ros-z uses router-based architecture by default, matching ROS 2's official rmw_zenoh_cpp middleware for production-ready scalability.
Router-Based Architecture
ros-z uses a centralized Zenoh router for node discovery and communication, providing:
| Benefit | Description |
|---|---|
| Scalability | Centralized discovery handles large deployments efficiently |
| Lower Network Overhead | TCP-based discovery instead of multicast broadcasts |
| ROS 2 Compatibility | Matches rmw_zenoh_cpp behavior for seamless interoperability |
| Production Ready | Battle-tested configuration used in real robotics systems |
Quick Start
The simplest way to get started is using the built-in router example:
Terminal 1 - Start the Router:
cargo run --example zenoh_router
Terminal 2 - Run Your Application:
use ros_z::context::ZContextBuilder;
use ros_z::Builder;
// Uses default ROS session config (connects to tcp/localhost:7447)
let ctx = ZContextBuilder::default().build()?;
let node = ctx.create_node("my_node").build()?;That's it! The default configuration automatically connects to the router on tcp/localhost:7447.
Running the Zenoh Router
Option 1: Built-in Router Example
ros-z provides a built-in router example that's ROS-compatible out of the box.
cargo run --example zenoh_router
Listens on tcp/[::]:7447 (all interfaces, port 7447).
Option 2: Official Zenoh Router
You can also use the official Zenoh router: https://zenoh.io/docs/getting-started/installation/#installing-the-zenoh-router.
Next Steps
Choose the configuration approach that fits your needs:
- Configuration Options - Six ways to configure Zenoh (from simple to complex)
- Advanced Configuration - Generate config files, run routers, configuration reference
- Troubleshooting - Solutions to connectivity issues
Ready to optimize your deployment? Experiment with different configurations and measure performance impact.