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Module ros2_interop

nros::guide

Module ros2_interop 

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§ROS 2 Interoperability

nros communicates with standard ROS 2 nodes via rmw_zenoh_cpp. Both sides connect to the same zenohd router (or peer directly).

§Quick start (3 terminals)

# 1. Router
zenohd --listen tcp/127.0.0.1:7447

# 2. nros talker
cd examples/native/rust/talker
RUST_LOG=info cargo run --features zenoh

# 3. ROS 2 listener
source /opt/ros/humble/setup.bash
export RMW_IMPLEMENTATION=rmw_zenoh_cpp
ros2 topic echo /chatter std_msgs/msg/Int32 --qos-reliability best_effort

§Common issues

  • Topic not visible in ros2 topic list — nros must declare liveliness tokens (handled automatically by the transport layer). Verify zenohd is reachable.
  • No messages received — check that the data key expression uses TypeHashNotSupported (Humble) not RIHS01_… in the data topic.
  • QoS mismatch — nros defaults to BEST_EFFORT; pass --qos-reliability best_effort on the ROS 2 subscriber.
  • rmw_zenoh not connecting — force client mode on the ROS 2 side: export ZENOH_CONFIG_OVERRIDE='mode="client";connect/endpoints=["tcp/127.0.0.1:7447"]'
  • Humble vs Iron — Humble uses TypeHashNotSupported; Iron+ uses RIHS01_<sha256> (requires the ros-iron feature).