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wip(zenoh): ROS 2 -> Zenoh telemetry gateway example (#421) - #442
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Draft for #421, not yet run against real ROS 2: - examples/ros2_gateway.rs: geometry_msgs/msg/Twist on /cmd_vel over ros2://, stored as a typed record, republished as JSON on zenoh://telemetry/cmd_vel on the same Zenoh session, and served read-only over AimX on a Unix socket for `aimdb watch`. - examples/zenoh_sub.rs: prints samples on a key expression, a stand-in for z_sub. - tests/interop: the gateway against ros2 topic pub in domain 42, asserting the JSON payload and the aimdb watch output; the image installs geometry_msgs; make ros2-interop builds the aimdb CLI. Still open: the walkthrough, the README link, and an interop run. Co-Authored-By: Claude Opus 5.5 <[email protected]> Claude-Session: https://claude.ai/code/session_01WGkDJ6wdeKyJ6ZH7uXTMDi
- ros2_gateway: geometry_msgs/Twist on /cmd_vel over ros2://, kept as a
SingleLatest record, republished as JSON on zenoh://telemetry/cmd_vel
on the same session, and served read-only over AimX.
- turtlesim_mcp: turtle.goal (Stop | GoTo { x, y }) is the only record
writable over AimX. A transform_join controller turns goal and pose
into turtle.cmd_vel, so remote writes to cmd_vel are refused. The pose
type follows ROS_DISTRO: turtlesim/msg/Pose on Jazzy,
turtlesim_msgs/msg/Pose after it.
- zenoh_sub: prints a key expression's samples, a stand-in for z_sub.
- docs/ros2-walkthrough.md, linked from the connector README and the
ROS 2 guide.
- ros2_interop.sh checks the gateway's JSON, aimdb watch and the late
snapshot, a GoTo reaching its target and a refused cmd_vel write; the
image adds geometry_msgs and turtlesim; make ros2-interop builds the CLI.
Passes make ros2-interop on Jazzy and Lyrical.
Co-Authored-By: Claude Opus 5.5 <[email protected]>
Claude-Session: https://claude.ai/code/session_01WGkDJ6wdeKyJ6ZH7uXTMDi
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Draft for #421, not yet run against real ROS 2:
ros2://, stored as a typed record, republished as JSON on
zenoh://telemetry/cmd_vel on the same Zenoh session, and served
read-only over AimX on a Unix socket for
aimdb watch.stand-in for z_sub.
asserting the JSON payload and the aimdb watch output; the image
installs geometry_msgs; make ros2-interop builds the aimdb CLI.
Still open: the walkthrough, the README link, and an interop run.
Co-Authored-By: Claude Opus 5.5 [email protected]
Claude-Session: https://claude.ai/code/session_01WGkDJ6wdeKyJ6ZH7uXTMDi