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

0.13.0 (2026-09-11)

• Granular rclcpp/rclcpp.gpp and include what you use (#1043)
• Return topic info by const reference (#1053)
• Remove unnecessary topic info locks (#1048)
• Add rmw_zenoh_cpp to zenoh_cpp_vendor runtime dep (#1044)
• Do not update wait_set_data triggered flag outside of mutex lock (#1036)
• When SHM enabled, enable transport_optimization (#1020)
• return early when unable to find any topic endpoints. (#1017)
• Contributors: Alejandro Hernández Cordero, Julien Enoch, Maurice Alexander Purnawan, Scott K Logan, Tomoya Fujita, Yadunund

0.12.0 (2026-07-22)

• return early with a zero-initialized array. (#1012)
• Fix transient-local publishing for buffer-aware path (#1009)
• Make use of [ServiceData::is_shutdown()]{.title-ref} when possible (#997)
• Fix lock order inversion in rmw_wait (#1005)
• fix(publisher): unify publisher ownership to fix debug-mode crash (#990)
• use C++ 20 in default. (#1006)
• Fix deadlock between wait_set condition_mutex and entity-specific mutexes (#992)
• Add support for rosidl::Buffer-aware per-endpoint pub/sub (#930)
• Contributors: Alejandro Hernandez Cordero, CY Chen, Janosch Machowinski, Patrick Roncagliolo, Tomoya Fujita, Yuyuan Yuan, Yadunund

0.11.0 (2026-05-07)

0.10.3 (2026-04-14)

• Bump Zenoh to 1.8.0, fix Windows shutdown hang, and resolve synchronization with undeclare (#964)
• Revert changes to build against rust >= 1.75 and bump zenoh to 1.8.0 (#960)
• Prevent deadlock by not holding both locks when processing event data (#937)
• Bump zenoh to 1.8.0 (#935)
• Explicitly set [false]{.title-ref} for the content filtering feature (#938)
• Add deadline/liveliness QoS events to rmw_zenoh_cpp (#934)
• Catch PackageNotFoundError during default config URI loading to prevent crash (#915)
• Populate reception_sequence_number and advertise_sequence_number features (#920)
• Use get_package_share_path (#913)
• Address outstanding TODO items (#896)
• Expose zenoh session (#865)
• Fix config loading with incorrect path variable (#898)
• Fix build binary workflow (#895)
• Fix line ending in session open error message (#888)
• Update deprecated ament_index_cpp API (#879)
• Remove default from switch with enum to enable compiler warnings (#871)
• Use shared SHM transport provider instead of creating a new instance (#857)
• Bump zenoh to 1.7.1 (#870)
• Contributors: Alejandro Hernández Cordero, Hervé Audren, Julien Enoch, Nikola Banović, Shane Loretz, Skyler Medeiros, Tomoya Fujita, Yuyuan Yuan, jordanburklund, yellowhatter

0.10.2 (2025-11-18)

• Add rmw_get_clients_info_by_service and rmw_get_servers_info_by_service (#679)
• Fix REP url locations (#858)
• Contributors: Minju, Lee, Tim Clephas

0.10.1 (2025-11-12)

• Restore ZENOH_CONFIG_OVERRIDE after isolation is finished

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