Bridges all ROS 2 communications using DDS over Zenoh. A typical usage is to run one bridge on a robot and one bridge on a remote host, connecting them via TCP without any DDS traffic crossing network boundaries.
The bridge daemon is installed disabled. Enable and start it with:
sudo snap start --enable zenoh-bridge-ros2dds.bridge
To stop and disable it again:
sudo snap stop --disable zenoh-bridge-ros2dds.bridge
To run an ad-hoc bridge instance without the daemon:
zenoh-bridge-ros2dds [OPTIONS]
Configuration is auto-discovered on startup. Place the configuration file in one of these locations:
~/snap/zenoh-bridge-ros2dds/common/ (ad-hoc app only; takes precedence) /var/snap/zenoh-bridge-ros2dds/common/ (daemon and ad-hoc app)
Pass -c <file> explicitly to skip auto-discovery.
A reference configuration is available in the upstream repository: https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/blob/main/DEFAULT_CONFIG.json5
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
Snap is available for CentOS 7.6+, and Red Hat Enterprise Linux 7.6+, from the Extra Packages for Enterprise Linux (EPEL) repository. The EPEL repository can be added to your system with the following command:
sudo yum install epel-release
Snap can now be installed as follows:
sudo yum install snapd
Once installed, the systemd unit that manages the main snap communication socket needs to be enabled:
sudo systemctl enable --now snapd.socket
To enable classic snap support, enter the following to create a symbolic link between /var/lib/snapd/snap and /snap:
sudo ln -s /var/lib/snapd/snap /snap
Either log out and back in again, or restart your system, to ensure snap’s paths are updated correctly.
To install Zenoh Bridge for ROS 2 over DDS, simply use the following command:
sudo snap install zenoh-bridge-ros2dds --candidate
Browse and find snaps from the convenience of your desktop using the snap store snap.
Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.