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.
If you’re running Kubuntu 16.04 LTS (Xenial Xerus) or later, including Kubuntu 18.04 LTS (Bionic Beaver) and Kubuntu 18.10 (Cosmic Cuttlefish), you don’t need to do anything. Snap is already installed and ready to go.
Versions of Kubuntu between 14.04 LTS (Trusty Tahr) and 15.10 (Wily Werewolf) don’t include snap by default, but snap can be installed from the command line as follows:
sudo apt update
sudo apt install snapd
To install Zenoh Bridge for ROS 2 over DDS, simply use the following command:
sudo snap install zenoh-bridge-ros2dds
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.