rmw_zenoh_cpp

rmw_zenoh_cpp is a ROS 2 middleware implementation, providing and interface between ROS 2 and Zetta Scale Zenoh middleware.

Quality Declaration

This package claims to be in the Quality Level 2 category, see the Quality Declaration for more details.

Changelog for package rmw_zenoh_cpp

0.6.4 (2025-09-10)

• Recycle serialization buffers on transmission (#766)
• refactor: avoid redundant key expression creation when replying (#754)
• Contributors: Chris Lalancette, Yadunund, Mahmoud Mazouz, Yuyuan Yuan, Julien Enoch

0.6.3 (2025-08-21)

• fixing typo flow to flows in config files (#745)
• Shared Memory on C++ API (#741)
• Bump Zenoh to v1.5.0 (#735)
• rmw_zenoh_cpp: Include algorithm for std::find_if (#725)
• Use rfind to avoid issues with service types ending in Request or Response (#720)
• Remove the extra copy on the publisher side (#712)
• Avoid ambiguity with variable shadowing (#707)
• Only configure the timeout of the action-related service [get_result]{.title-ref} to maximum value. (#701)
• Use Zenoh Querier to replace Session.get (#697)
• Contributors: ChenYing Kuo (CY), Christophe Bedard, Faseel Chemmadan, Filip, Jan Vermaete, Julien Enoch, milidam, Steven Palma, Yadunund, yellowhatter, Yuyuan Yuan

0.6.2 (2025-06-18)

• Use data() to avoid potentially dereferencing an empty vector (#668)
• Bump Zenoh to 1.4.0 (#657)
• Contributors: Julien Enoch, Øystein Sture

0.6.1 (2025-05-20)

• fix(comment): correct the QoS incompatibilities (#645)
• fix rmw_take_serialized_message. (#639)
• Update CMakeLists.txt (#622)
• Contributors: Alejandro Hernández Cordero, mosfet80, Tomoya Fujita

0.6.0 (2025-04-18)

• Change serialization format in attachment_helpers.cpp (#601)
• Bump Zenoh to v1.3.2 and improve e2e reliability with HeartbeatSporadic (#591)
• Implement rmw_test_fixture to start the Zenoh router (#583)
• Add quality declaration (#483)
• Trigger qos event callback if there are changes before registration (#587)
• Set wait_set->triggered flag to false (#575)
• Add space after [id]{.title-ref} token in [rmw_zenohd]{.title-ref} log string (#576)
• Use [std::unique_lock]{.title-ref} to unlock correctly on Windows (#570)
• Contributors: Alejandro Hernández Cordero, ChenYing Kuo (CY), Julien Enoch, Luca Cominardi, Patrick Roncagliolo, Scott K Logan, Yuyuan Yuan, yadunund, yellowhatter

0.5.0 (2025-03-20)

• Switch to std::map for TopicTypeMap (#546)
• Support zenoh config override (#551)
• Align the config with the latest Zenoh. (#556)
• Added documentation note in the code (#540)
• fix: unlock the mutex before making get (#537)
• Take wait_set_lock before condition_variable notification for subscriptions (#528)
• Switch default durability to volatile (#521)
• Added rmw_event_type_is_supported (#502)
• Fixed windows warning (#500)
• Config: tune some values for ROS use case, especially with large number of Nodes (>200) (#509)

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