/ros2-zenoh-sandbox

Primary LanguageShell

Playground to test ROS1, ROS2 and Zenoh bridges

The main documentation is the actual docker-compose.yml file. It sets up the following:

  • Several replicas of ROS2 containers (named ros_publisher) that uses Cyclone DDS and publish on the topic /foo. This is connected to the network ros_network_1. Think of it as running on multiple robots or ROS nodes running in a connected ROS2 network
  • Also in the ros_network_1 runs a Zenoh-ros2dds bridge (container named zenoh). It bridges the Cyclone DDS ROS2 with Zenoh. This acts as a server that listens on port 7447 for other Zenoh peers and on 8888 it exposes its HTTP REST API, both on a zenoh_network, i.e. this is the network (e.g. Wifi, 4G) that connects different robots or a central controller to robots etc.
  • In another ros_network_2 (think of it as a robot coordinator, or another robot, which is not directly using DDS to talk to the first network), there are a ROS2 subscriber (ros2_subscriber) on the /foo topic. And on this second network there runs another Zenoh-ros2dds bridge (container named zenoh_conect), but here it connects (it initiates the connection, i.e., it conects to the other bridge on its port 7447) to the the previous Zenoh bridge via the zenoh_network.
  • Also on the ros_network_2 runs a ROS2-ROS1 bridge (container ros_bridge), and a ROS1 subscriber (container ros1_subscriber), to test the ability to bridge to ROS1 containers. The roscore is being run as part of the ros_bridge
  • It also features a Zenoh MQTT bridge (named: zenoh_mqtt), that connects to the zenoh container and acts as an MQTT broker, allowing MQTT clients to receive/publish any ROS topics

Overview of the network setup and the protocols between different containers

Images used:

eclipse/zenoh-bridge-mqtt:latest
lcas.lincoln.ac.uk/lcas/ros1_bridge:latest
lcas.lincoln.ac.uk/lcas/ros2_test:latest
lcas.lincoln.ac.uk/lcas/zenoh_ros2dds_bridge:latest
ros:noetic