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

0.7.1 (2025-05-19)

• fix(comment): correct the QoS incompatibilities (#644)
• fix rmw_take_serialized_message. (#638)
• Update CMakeLists.txt (#617)
• Contributors: Alejandro Hernández Cordero, Tomoya Fujita, Yuyuan Yuan, mosfet80

0.7.0 (2025-04-24)

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)
• Honor ignore_local_publications in subscription options (#508)
• Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 (#503)
• Fix calculation of current_count_change when event status is updated (#504)
• Fix checks for invalid arguments (#497)
• Fail creation of entities if qos contains unknown settings (#494)
• use rmw_enclave_options_xxx APIs instead. (#491)
• Enable Zenoh UDP transport (#486)
• fix: use the default destructor that automatically drops the zenoh reply/query and hence sends the final signal (#473)
• Contributors: Alejandro Hernández Cordero, ChenYing Kuo (CY), Hugal31, Luca Cominardi, Tomoya Fujita, Yuyuan Yuan, Yadunund

0.4.0 (2025-02-19)

• Introduce the advanced publisher and subscriber (#368)
• Switch to debug log if topic_name not in topic_map (#454)
• Bump Zenoh to commit id 3bbf6af (1.2.1 + few commits) (#456)
• Contributors: Julien Enoch, Yuyuan Yuan, Yadunund

0.3.1 (2025-02-04)

• Bump Zenoh to commit id e4ea6f0 (1.2.0 + few commits) (#446)
• Inform users that peers will not discover and communicate with one another until the router is started (#440)
• Clear the error after rmw_serialized_message_resize() (#435)
• Fix [ZENOH_ROUTER_CHECK_ATTEMPTS]{.title-ref} which was not respected (#427)
• fix: use the default destructor to drop the member [Payload]{.title-ref} (#419)
• Remove [gid_hash_]{.title-ref} from [AttachmentData]{.title-ref} (#416)
• Sync the config with the default config in Zenoh. (#396)
• fix: check the context validity before accessing the session (#403)
• Fix wan't typo (#400)
• Contributors: ChenYing Kuo (CY), Chris Lalancette, Julien Enoch, Mahmoud Mazouz, Tim Clephas, Yuyuan Yuan, Yadunund

0.3.0 (2025-01-02)

• An alternative middleware for ROS 2 based on Zenoh.
• Contributors: Alejandro Hernández Cordero, Alex Day, Bernd Pfrommer, ChenYing Kuo (CY), Chris Lalancette, Christophe Bedard, CihatAltiparmak, Esteve Fernandez, Franco Cipollone, Geoffrey Biggs, Hans-Martin, James Mount, Julien Enoch, Morgan Quigley, Nate Koenig, Shivang Vijay, Yadunund, Yuyuan Yuan, methylDragon