Zenoh support - #73
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…hop use cases) Background research collected as ground-truth references for the Zenoh backend study: rmw_zenoh key-expression/liveliness/attachment/service model, the Zenoh 1.x Rust API surface, and the RosCon 2025 workshop use cases. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
- docs/zenoh_study/{README,feature_map,refactoring_plan,test_plan}.md
- docs/decisions/0001..0009 ADRs (feature architecture, CDR reuse,
owned public types, liveliness discovery, queryable services,
type-hash interop, GID/attachment parity, router/config)
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Captured because the session has read-only GitHub access (issue/PR/push writes are policy-denied); create from this file once access is granted. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Introduce the mutually-exclusive middleware backend features per ADR-0002: - Cargo: add `dds` (default) and `zenoh` features; make `rustdds` optional and gated behind `dds`; add optional `zenoh`/`zenoh-ext` deps (resolve to zenoh 1.9); `security` now implies `dds`; default = ["dds", "jazzy"]. - lib.rs: compile_error! guard requiring exactly one backend; gate the crate root `rustdds` re-exports and `ros2::` DDS types behind `dds`. - Add `src/zenoh_backend/` module home (cfg `zenoh`) for E2-E6. The default DDS build is unchanged and green (9 lib tests pass, fmt clean); the Zenoh backend compile lands with E1-E3. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Backend-neutral 'spec' modules under src/zenoh_backend/, compiled on every build so they are unit-testable without the zenoh crate or a network: - keyexpr: data-plane topic/service keys <domain>/<name>/<type>/<hash> and @ros2_lv liveliness keys (NN/MP/MS/SS/SC) with %-mangling; tests reproduce the exact key strings from the rmw_zenoh design examples. - type_hash: REP-2016 known-types table + wildcard-receive strategy (ADR-0007). - gid: 16-byte entity GID = XXH3-128(liveliness key) as low64||high64 LE (ADR-0008); byte-layout and determinism tests. Adds xxhash-rust dep. 22 lib tests pass (11 new); fmt + clippy clean; default DDS build unchanged. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
CI formats with nightly rustfmt honoring wrap_comments/imports_granularity; reflow comments to match so the format check passes.
…tvgj Zenoh backend: study, plan, decisions + E0/E2 foundations
Introduce ros2_client::qos::QosProfile — a backend-neutral ROS 2 QoS profile (reliability/durability/history/deadline/lifespan/liveliness/lease) that does not name any rustdds type, per ADR-0004. On the dds backend it converts to/from rustdds::QosPolicies (round-trip tested); on zenoh it will drive pub/sub options and the liveliness QoS encoding. Additive: existing APIs still take rustdds QoS; migration is incremental. Re-exported as ros2_client::QosProfile and ros2::QosProfile. 3 unit tests (incl. rustdds round-trip); fmt/clippy/doc clean. Refs #4 (E1), #2. Co-Authored-By: Claude <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
The publisher unwrapped its first async_publish, which a Reliable writer can legitimately fail with WouldBlock before a matching subscription is discovered (a race exposed on fast loopback CI runners; surfaced now that this fork runs CI for the first time). Tolerate the transient error and keep publishing; the subscriber only needs one message within its timeout. Refs #2.
…4tvgj E1: owned QosProfile type (decouple public API from RustDDS)
Make the crate compile under `--no-default-features --features zenoh` and add the first real Zenoh backend module: - lib.rs: gate all RustDDS-coupled modules/re-exports (context, node, pubsub, service, action, message_info, parameters, rcl_interfaces, rosout, builtin_topics, entities_info, gid, interfaces, lazy_static) behind `dds`; gate the RustDDS Timestamp conversions in ros_time and the `Log` struct in log (keeping `LogLevel`); allow dead_code on the zenoh build for neutral helpers not yet wired to the zenoh side. - zenoh_backend::context: `Context`/`ContextOptions` opening one `zenoh::Session` per context (E3). Default peer config listens on IPv4 loopback with multicast off (rmw_zenoh shape; also works where IPv6 is unavailable, e.g. CI). Full JSON5/env config is a follow-up TODO. - CI: new tests-zenoh.yml (check + clippy -D warnings + lib tests for the zenoh feature; guards dds/zenoh exclusivity). DDS build unchanged (23 lib tests). Zenoh: 18 lib tests pass incl. opening a real session. Refs #6 (E3), #5 (E2), #2. Co-Authored-By: Claude <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
…4tvgj E3: Zenoh Context/session + compile the `zenoh` feature + CI
zenoh_backend::attachment::AttachmentData carries (i64 sequence, i64 source_timestamp_ns, [u8;16] source_gid) via the zenoh-ext serializer, matching rmw_zenoh's exact wire layout: 8B LE seq | 8B LE ts | 0x10 | 16B gid (33 bytes). Unit tests pin the byte layout, round-trip, and truncation rejection (ADR-0008). Refs #5 (E2), #2. Co-Authored-By: Claude <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
…4tvgj E2: message attachment (rmw_zenoh byte-compatible)
zenoh_backend::cdr provides to_cdr/from_cdr: message body via cdr-encoding (same author as RustDDS) plus the 4-byte encapsulation header prepended ourselves (cdr-encoding emits the body only). to_cdr writes CDR_LE; from_cdr honours the representation identifier's endianness (LE/BE incl. PL variants). Tests cover round-trip (String + struct), header-present-once, big-endian decode, and header validation (ADR-0003). Adds cdr-encoding + byteorder deps under the zenoh feature. Unblocks E4 pub/sub. Refs #5 (E2), #7 (E4), #2. Co-Authored-By: Claude <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
cargo-audit flagged RUSTSEC-2026-0041 (lz4_flex <0.11.6, pulled by zenoh's compression; zenoh pins 0.10.x) and RUSTSEC-2023-0071 (rsa 0.9 Marvin timing side-channel, via zenoh's TLS stack; no upstream patch exists). Both are transitive, only affect the optional zenoh feature, and are unresolvable without an upstream zenoh bump. Ignore them with justification in .cargo/audit.toml and re-trigger the audit workflow on changes to it. Refs #2.
Minimal Zenoh node surface + data plane: - Context::new_node -> Node; Node::create_topic/create_publisher/ create_subscription. Topic resolves the fully-qualified ROS name. - Publisher<M>: put(CDR payload + attachment(seq,ts,gid)); concrete key with real-or-placeholder type hash. Subscription<M>: declare_subscriber with a wildcard type hash (liberal receive), decodes CDR + attachment into MessageInfo. Per-publisher sequence numbers; entity GID from liveliness key. - type_hash::sender_hash now returns a concrete PLACEHOLDER_HASH (a put can't target a wildcard key); receivers keep using WILDCARD. - Re-export Node/NodeOptions/Topic/Publisher/Subscription/MessageInfo under zenoh. Tier B in-process test: two contexts connected over loopback exchange a std_msgs/String round-trip. 27 zenoh lib tests pass; dds unchanged (23); fmt + clippy (both backends) clean. Refs #7 (E4), #2. Co-Authored-By: Claude <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
zenoh_backend::qos_encoding encodes/decodes the <qos> component of liveliness tokens (rmw_zenoh format, 6 colon-groups). Every field except depth is delta-encoded vs the RMW default profile; depth is always emitted. Reproduces the documented examples exactly (reliable/volatile/keep-last depth 7 -> '::,7:,:,:,,') and round-trips. Pure module, tested on both backends. Refs #8 (E5), #2. Co-Authored-By: Claude <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
- keyexpr::parse_liveliness_key: inverse of the token builders (ParsedEntity; names demangled), with round-trip + rejection tests. - Node declares a node (NN) liveliness token on creation; create_publisher/ create_subscription declare MP/MS tokens carrying the compact QoS encoding (E5a); the entity GID is derived from that liveliness key. Tokens are held by the Node/Publisher/Subscription (dropped => undeclared). Declaration is best-effort (warns, still functional). Tier-B test: a publisher created on one context is discovered by another via a liveliness get, its NN + MP tokens parsed back correctly. 35 zenoh lib tests pass; dds unchanged (30); fmt + clippy (both) clean. Refs #8 (E5), #2. Co-Authored-By: Claude <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
zenoh_backend::graph_cache::GraphCache maintains the live entity set parsed from liveliness tokens. Context declares a liveliness subscriber over @ros2_lv/<domain>/** with history(true) and a callback that applies PUT/DELETE to the cache. New Context queries: publisher_count/subscription_count/node_names. Tier-B test: a second context discovers a remote publisher + node via the cache (publisher_count == 1, node_names contains /talker). Pure cache logic also unit tested. 37 zenoh lib tests pass; dds unchanged (31); fmt + clippy (both) clean. Refs #8 (E5), #2. Co-Authored-By: Claude <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
zenoh_backend::service: Client<Req,Resp> and Server<Req,Resp> implementing ROS 2
services over Zenoh (ADR-0006).
- Server: complete queryable; per-query reads CDR request + attachment
(seq,ts,client_gid), stores the Query keyed by (client_gid,seq), and replies
with the CDR response echoing seq+gid. try_receive_request/async_receive_request
+ send_response; RmwRequestId {writer_gid,sequence_number}.
- Client: get on the concrete service key (real hash if known, else placeholder)
carrying request payload + attachment; decodes the first OK reply. call/async_call.
- Node::create_client/create_server; SC/SS liveliness tokens; names::ServiceTypeName
gains dds_service_type() (zenoh-only) for the service key type component.
Tier-B test: example_interfaces/AddTwoInts round-trip across two contexts returns
42. 38 zenoh lib tests pass; dds unchanged (31); clippy -D warnings (both) + fmt clean.
Refs #9 (E6), #2.
Co-Authored-By: Claude <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
zenoh_backend::action: ActionClient/ActionServer composing the ROS 2 action sub-entities on the Zenoh service + pub/sub layers (ADR / rmw_zenoh §8): - send_goal + get_result services, feedback topic; goals correlated by an application-level GoalId (random UUID). - Client: send_goal (returns id+accepted), get_result (long timeout, mirroring rmw's _action/get_result heuristic; bounded to 60s), take_feedback. - Server: try_receive_goal/respond_goal, publish_feedback, try_receive_result_request/respond_result. - Node::create_action_client/create_action_server build the sub-entities; service.Client gains an optional get timeout. cancel_goal + status topic are documented follow-ups. Tier-B test: action_tutorials_interfaces/Fibonacci order 5 -> [0,1,1,2,3] via send_goal + feedback + get_result across two contexts. 39 zenoh lib tests pass; dds unchanged (31); clippy -D warnings (both) + fmt clean. Refs #11 (E7), #2. Co-Authored-By: Claude <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Implement ROS 2 parameters on the Zenoh backend as a composition of six `rcl_interfaces` services and the `parameter_events` topic, mirroring how rmw_zenoh / rclcpp expose parameters (there is no middleware-level parameter concept). - `ParameterServer`: parameter store + get_parameters, get_parameter_types, set_parameters, set_parameters_atomically, list_parameters, describe_parameters queryables, plus a `/parameter_events` publisher. Application-driven via `spin_once()`/`spin()`, matching the primitives idiom of the Zenoh services/actions layers. `set_parameters_atomically` is not implemented (fails per entry, as in the DDS backend). - `ParameterClient`: get/set/list/types/describe against a remote node's parameter services. - `Node::create_parameter_server` / `create_parameter_client`. - `ParameterEvent` carries an owned `builtin_interfaces::Time` stamp, keeping the Zenoh backend independent of RustDDS (ADR-0004); its CDR field layout matches `rcl_interfaces/msg/ParameterEvent`. To reuse the ROS 2 parameter message types across both backends, make the `parameters` and `rcl_interfaces` modules backend-neutral: only the DDS-specific pieces (`raw::ParameterEvent`'s `rustdds::Timestamp` and the `AService` type aliases) stay gated behind the `dds` feature; the value enums, conversions, and request/response structs now compile on both. Verified in-process (Tier B) over IPv4 loopback: a client gets the initial value, sets a changed value and a new parameter, reads them back, queries types, and lists names (including the built-in `use_sim_time`) with prefix filtering. 40 zenoh lib tests pass; DDS tests, clippy (both backends), and nightly rustfmt are clean. Closes #12 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Add rosout logging on the Zenoh backend: a `Logger` that publishes `rcl_interfaces/msg/Log` records to the global `/rosout` topic, plus an inbound subscription for reading `/rosout` (the `read_rosout` capability). - `zenoh_backend::rosout::Log`: an owned-timestamp (`builtin_interfaces::Time`) log record whose CDR field layout matches `rcl_interfaces/msg/Log`, keeping the Zenoh backend independent of RustDDS (ADR-0004; the DDS backend's `log::Log` uses `rustdds::Timestamp`). - `Logger` with `log_at` + level helpers (debug/info/warn/error/fatal), stamping the node's base name into each record. - A `zenoh`-gated `rosout!` macro mirroring the DDS one, capturing the call site's file/line (the DDS macro lives in the dds-gated `node` module, so the two never collide). - `Node::create_logger` / `Node::read_rosout`. Verified in-process (Tier B) over IPv4 loopback: a node logs via `rosout!` and a second node reads the record back, checking level, name, message, and source location. 41 zenoh lib tests pass; DDS tests, clippy (both backends), and nightly rustfmt are clean. Closes #10 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Wrap up the Zenoh backend MVP with docs and an example. - Add a self-contained `zenoh_demo` example: an in-process talker + listener over IPv4 loopback (peer mode, no router) that exercises topic pub/sub and `/rosout` logging, runnable with `cargo run --no-default-features --features zenoh --example zenoh_demo`. - Declare all examples explicitly in Cargo.toml with `autoexamples = false`. The DDS examples are gated `required-features = ["dds"]`, so a `--no-default-features --features zenoh --examples` build skips them instead of failing; `zenoh_demo` is gated on `zenoh`. - README: new "Middleware backends: DDS and Zenoh" section documenting the mutually-exclusive `dds`/`zenoh` features, the Zenoh router requirement, a per-capability interop matrix, the type-hash limitation, and pointers to docs/zenoh_study and docs/decisions. Add a 0.10 changelog line. - CI: the zenoh job now lints the zenoh example (`cargo clippy --no-default-features --features zenoh --examples -D warnings`), guarding both the example and the DDS-example gating. Verified locally: `zenoh_demo` runs (sends and receives on /chatter, logs to /rosout); DDS examples still build under the default features; clippy clean on both backends; nightly rustfmt clean. Closes #13 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Round out the Zenoh Context configuration by honouring the two environment variables `rmw_zenoh` uses, when no explicit `ContextOptions::zenoh_config` is provided: - `ZENOH_SESSION_CONFIG_URI`: path to a JSON5 Zenoh config file used as the base config (via `zenoh::Config::from_file`); otherwise the built-in peer default is the base. - `ZENOH_CONFIG_OVERRIDE`: a `;`-separated list of `key=value` JSON5 assignments applied on top (e.g. `mode="client";connect/endpoints=["tcp/localhost:7447"]`). Malformed overrides and unreadable config files are surfaced as errors rather than silently ignored. This replaces the E3 `TODO` in `default_config` and lets a `ros2-client` node join a `zenohd`-based `rmw_zenoh` deployment purely through the standard env vars. A unit test covers the override parser (valid list applies and sets the mode; empty entries ignored; an entry without `=` is rejected). 42 zenoh lib tests pass; clippy (both backends) and nightly rustfmt are clean. Closes #6 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
…iption Complete the remaining E1 item (#4): a backend-neutral view of the ROS graph on the Zenoh backend, replacing the RustDDS-specific `NodeEvent::DDS` for graph observation. - `GraphEvent` (EntityDeclared / EntityUndeclared) + `GraphEntity` (kind, node_name, name, type_name) — owned, backend-neutral types (ADR-0004). `EntityKind` is now re-exported at the crate root. - `GraphCache` fans out these events to any number of subscribers (one unbounded channel each), mirroring the DDS backend's status senders, on every liveliness PUT/DELETE. - `Context::graph_event_stream()` returns an event stream; `Context` and `Node` gain `wait_for_publisher(topic)` / `wait_for_subscription(topic)` futures that resolve on discovery (immediately if already present, and race-free: they subscribe before checking the current count). Tests (Tier B): `emits_declared_and_undeclared_events` (cache-level, incl. non-token keys producing no event) and `wait_for_publisher_resolves_on_ discovery` (end-to-end over loopback — a waiter on one context resolves when a publisher appears on another). 44 zenoh lib tests pass; clippy (both backends) and nightly rustfmt clean. Refs #4 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Complete the ROS 2 action surface on the Zenoh backend by adding the two
remaining sub-entities, mirroring rmw_zenoh / the DDS backend:
- `cancel_goal` service — `action_msgs/srv/CancelGoal` on
`<action>/_action/cancel_goal` (the shared, non-action-namespaced type).
Client: `cancel_goal(goal_id)` / `cancel_all_goals()`. Server:
`try_receive_cancel()` / `respond_cancel(id, return_code, goals_canceling)`.
- `status` topic — `action_msgs/msg/GoalStatusArray` on
`<action>/_action/status`. Client: `take_status()`. Server:
`publish_status(status_list)`.
The `action_msgs` message types are backend-neutral and reused directly.
`ActionClient`/`ActionServer` and `Node::create_action_{client,server}` are
extended to wire the extra client/server + sub/pub.
Tier-B test `cancel_and_status_roundtrip`: the client sends a goal, observes
it reach `Executing` on `/status`, cancels it (asserting `return_code=None`
and the goal present in `goals_canceling`), then observes `Canceled` on
`/status`. 45 zenoh lib tests pass; clippy (both backends) and nightly
rustfmt clean.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Implement the core of ADR-0007 item (c): a backend-neutral, from-scratch
port of rosidl's `calculate_type_hash`, so a ros2-client can compute the
same `RIHS01_…` hash a C++ peer embeds in its Zenoh keys.
- New `zenoh_backend::type_description`: `FieldType` (with the base id table
+ array/bounded-seq/unbounded-seq offset scheme), `Field`,
`IndividualTypeDescription`, `TypeDescription`, and:
- `hashable_json()` — the exact canonical JSON (struct-order keys, `", "`
/ `": "` separators, `default_value` stripped, referenced types sorted
by name, `ensure_ascii` escaping);
- `rihs01()` — `RIHS01_` + lowercase-hex SHA-256 of that JSON;
- `service_type_description()` — the synthetic service composition
(`request_message`/`response_message`/`event_message` + closure).
- Reproduces the published hashes of `std_msgs/msg/String` and
`example_interfaces/srv/AddTwoInts` byte-exactly, and cross-checks them
against the known-types table so the two cannot silently diverge.
- `sha2` added as an unconditional (pure-Rust) dependency, matching the
`xxhash-rust` precedent of keeping wire-format spec modules testable on
any build. Verified on both the dds and zenoh builds.
What remains for ADR-0007 (c) is the msggen *pipeline* — resolving each
generated type's transitive nested-type closure across packages and
emitting the computed hash as a constant — documented in ADR-0007 and the
`type_hash` module. Until then the send direction still uses the (now
verified) known-types table for un-generated types.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Address the interop follow-up in two honest parts, since a real ROS 2 + rmw_zenoh stack can't run in this repo's CI: - `pub_sub_through_router`: an end-to-end test that stands up a real in-process Zenoh *router* and connects two client-mode `Context`s to it, exchanging a message on /chatter. This exercises the client→router→client topology (ADR-0009 / the rmw_zenoh deployment model) that the peer-mode loopback tests never touch. - `docs/zenoh_study/interop_runbook.md`: a concrete Tier-C procedure for validating the Zenoh backend against real ROS 2 + rmw_zenoh + zenohd — topics (both directions), services, actions (incl. cancel/status), parameters, rosout, and discovery — each mapped to its C# acceptance criterion, with the env-var config (`ZENOH_CONFIG_OVERRIDE` / `ZENOH_SESSION_CONFIG_URI`) and the type-hash/distro caveats. README links it from the interop section. 49 zenoh lib tests pass; clippy (both backends) and nightly rustfmt clean. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01DP3yDMFQ3h1mDPAty2g5ZK
Native std_msgs scalar topics (Float64, Float32, Int32/64, UInt32/64, Bool) now advertise a correct RIHS01 type hash on the send direction, computed from their one-field descriptions via `type_description` (byte-exact, exactly as for String), so C++ rmw_zenoh subscribers match them. Previously only String and AddTwoInts were in the hash table; other scalars fell back to the all-zero placeholder and did not match a C++ subscriber. Closes the common-scalar gap ahead of full msggen (ADR-0007). Adds a drift-guard test. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Introduced flags to select
zenohorddsas the RMW.DDS route mainly unchanged.
Zenoh route tested with official ROS 2 tools.
Closes #71
Supersedes #72 (was coming from
semio-ai:master, but it was a moving branch)