Running Examples
Once you've added ros-z to your project, you can run the included examples to see it in action.
All examples require a Zenoh router to be running first (see Networking for why ros-z uses router-based architecture by default):
cargo run --example zenoh_router
Leave this running in a separate terminal, then run any example in another terminal.
Available Examples
# Pure Rust example with custom messages (no ros-z-msgs needed)
cargo run --example z_custom_message -- --mode status-pub
# Examples using bundled messages (requires ros-z-msgs)
cargo run --example z_pubsub # Publisher/Subscriber with std_msgs
cargo run --example twist_pub # Publishing geometry_msgs
cargo run --example battery_state_sub # Receiving sensor_msgs
cargo run --example z_srvcli # Service example with example_interfaces
See the Networking chapter for router setup details and alternative configurations.