Deployment Workflow

Deployment means different things per target, but the order is stable: prepare toolchain, build package, move binary/firmware to target, then verify ROS 2 communication.

POSIX

Three equivalent entry points; pick by workspace shape:

# Per-example (Pattern B or any single binary):
cd examples/native/rust/talker
cargo run

# Multi-component system orchestration:
nros metadata my_system
nros plan my_system launch/my_system.launch.py
nros check
cargo run -p robot_entry

# Colcon consumer workspace (Pattern A):
colcon build && source install/setup.bash
ros2 run my_pkg my_node

For interop with stock ROS 2 over Zenoh, run the bundled router (built by just zenohd setup) and point ROS 2 at it:

zenohd --listen tcp/127.0.0.1:7447
export RMW_IMPLEMENTATION=rmw_zenoh_cpp

See Native POSIX.

RTOS and Bare-Metal

RTOS targets usually produce firmware images or simulator binaries:

just freertos build
just freertos test

For real hardware, deployment step becomes flash/load/monitor. For QEMU, deployment is launching simulator with correct network setup.

There is no nros deploy / nros build / nros run verb — Phase 222 removed those wrappers. nros is provisioner + codegen + metadata only; deployment runs on the vendor’s native tools. The embedded deploy contract is a documented three-step sequence (per RFC-0003 §4):

1. Bake — nros codegen-system --bringup <pkg> reads system.toml + [deploy.<board>] + launch/*.xml and emits the baked tree under build/<board>/.
2. Build — the vendor tool builds it: cargo build / cmake --build / west build / idf.py build (the just <plat> build* recipes wrap these with the right -D args derived from [deploy.<board>]).
3. Flash + monitor — the vendor tool again: probe-rs run / west flash / idf.py flash monitor, or the platform’s QEMU runner.

Platform guides should show:

• package layout,
• setup command,
• toolchain requirements,
• build command,
• run/flash command,
• ROS 2 interop or smoke-test command.

Zephyr

Zephyr deployment uses west:

just zephyr setup
source zephyr-workspace/env.sh
west build -b native_sim/native/64 nros/examples/zephyr/rust/talker
./build/zephyr/zephyr.exe

ESP32

ESP32 deployment uses the Espressif toolchain and flash tool:

just esp32 build
just esp32 talker

For physical boards, use the platform guide’s espflash path.

Verify

After deployment, verify from ROS 2 side:

ros2 topic list
ros2 topic echo /chatter std_msgs/msg/Int32 --qos-reliability best_effort

If discovery works but samples do not arrive, check domain ID, router mode, QoS reliability, and platform network setup.