> For clean Markdown of any page, append .md to the page URL. > For a complete documentation index, see https://docs.stereolabs.com/llms.txt. > For AI client integration (Claude Code, Cursor, etc.), connect to the MCP server at https://docs.stereolabs.com/_mcp/server. # Using Zenoh as ROS 2 Middleware [Zenoh](https://zenoh.io/) is a pub/sub/query protocol that can be used as an alternative ROS 2 middleware through the [`rmw_zenoh`](https://github.com/ros2/rmw_zenoh) implementation. Unlike the default DDS-based middleware, Zenoh communicates over **TCP** and relies on a lightweight **router** for discovery instead of UDP multicast. This makes it a very good fit for the ZED ROS 2 nodes, which publish large messages such as high-resolution images and 3D point clouds: * **No kernel buffer tuning required.** Because Zenoh uses TCP, large messages are not split into UDP/IP fragments, so the [`sysctl` network tuning](/docs/integrations/ros-2/dds-and-network-tuning#tuning-for-large-messages) that DDS needs to transfer point clouds and images is **not** required. * **Discovery scales better.** Nodes connect to a router instead of flooding the network with multicast discovery traffic, which helps in large systems and on networks where multicast is unreliable (e.g. Wi-Fi). * **Shared memory** can be enabled to move large messages between processes on the same machine without copying them over the network stack. > **Note** > > This guide applies to **ROS 2 Humble**, **ROS 2 Jazzy**, and **ROS 2 Lyrical**. The commands are identical on all of them and use the `$ROS_DISTRO` environment variable, which is set automatically to `humble`, `jazzy`, or `lyrical` when you source your ROS 2 setup file, so you can run them as they are. > **Warning** > > ROS 2 messages include a *type hash* starting from Iron. `rmw_zenoh` embeds this hash in the Zenoh keys it uses to exchange data, so a **Humble** node and a **Jazzy** (or newer) node will discover each other but **silently fail to communicate**. > > Each distribution also ships a very different version of `rmw_zenoh` and of the underlying Zenoh protocol, so mixing distributions is not supported in general. Make sure every machine in your ROS 2 graph uses the **same ROS 2 distribution** when running over Zenoh. ## Step 1: Install rmw\_zenoh Pre-built binaries are available for Humble, Jazzy, and Lyrical. Open a terminal console (`Ctrl + Alt + t`) and run: ```bash sudo apt update sudo apt install ros-$ROS_DISTRO-rmw-zenoh-cpp ``` > **Note** > > The configuration described in this guide **must be applied to every machine** involved in the ROS 2 infrastructure that needs to send or receive ZED ROS 2 messages over Zenoh. ### (Optional) Build from source If you need the latest features or fixes, you can build `rmw_zenoh` from source instead: ```bash mkdir -p ~/ws_rmw_zenoh/src && cd ~/ws_rmw_zenoh/src git clone https://github.com/ros2/rmw_zenoh.git -b $ROS_DISTRO cd ~/ws_rmw_zenoh rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y source /opt/ros/$ROS_DISTRO/setup.bash colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release ``` Remember to source the workspace (`source ~/ws_rmw_zenoh/install/setup.bash`) in every terminal where you want to use the source-built version. ## Step 2: Select Zenoh as the RMW implementation ROS 2 chooses its middleware through the `RMW_IMPLEMENTATION` environment variable. Set it in **every terminal** where you launch a ROS 2 node (including the ZED node, the Zenoh router, and any subscriber such as RViz2): ```bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp ``` To apply it automatically to every new terminal, add the line to your `~/.bashrc` file: ```bash echo 'export RMW_IMPLEMENTATION=rmw_zenoh_cpp' >> ~/.bashrc ``` You can confirm that the correct middleware is selected with: ```bash ros2 doctor --report | grep middleware ``` ## Step 3: Start the Zenoh router Unlike DDS, Zenoh disables UDP multicast discovery by default. Nodes discover each other through a **Zenoh router** (`rmw_zenohd`). You must start **one router before launching any node** (for multi-machine setups, see [Running across multiple machines](#running-across-multiple-machines)). Open a dedicated terminal and run: ```bash source /opt/ros/$ROS_DISTRO/setup.bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 run rmw_zenoh_cpp rmw_zenohd ``` Leave this terminal open: the router must stay alive for the whole session. By default it listens on TCP port **7447**. > **Tip** > > By default, a node tries to reach the router only once at startup and continues even if it is not found. You can control this behavior with the `ZENOH_ROUTER_CHECK_ATTEMPTS` environment variable: > > * `0` → wait indefinitely until a router is found. > * a positive number `N` → try `N` times, once per second, then continue. > * a negative number → skip the check entirely. > > Setting `export ZENOH_ROUTER_CHECK_ATTEMPTS=0` is handy to make sure your ZED node never starts publishing before the router is ready. ## Step 4: Launch the ZED node and verify With the router running and `RMW_IMPLEMENTATION` exported, launch the ZED node as usual. For a stereo camera: ```bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 launch zed_wrapper zed_camera.launch.py camera_model:= ``` Replace `` with your camera (e.g. `zed2i`, `zedx`, `zedxm`). See the [ZED Stereo Node](/docs/integrations/ros-2/zed-stereo-node) page for the full list of launch options. In another terminal (with the same `RMW_IMPLEMENTATION` exported), check that the topics are available and that data flows: ```bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 topic list ros2 topic hz /zed/zed_node/point_cloud/cloud_registered ``` ### Quick sanity test If you want to validate the Zenoh setup independently from the ZED node, use the standard ROS 2 demo nodes. With the router running, open two terminals: ```bash # Terminal A export RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 run demo_nodes_cpp talker ``` ```bash # Terminal B export RMW_IMPLEMENTATION=rmw_zenoh_cpp ros2 run demo_nodes_cpp listener ``` The listener should print the messages published by the talker. ## Running across multiple machines A typical robotics setup has the ZED node running on the robot (e.g. an NVIDIA® Jetson™) and the visualization tools running on a remote workstation. With Zenoh, the recommended approach is to run **one router per machine** and connect the routers to each other. 1. On **every** machine, make sure all terminals use Zenoh (`export RMW_IMPLEMENTATION=rmw_zenoh_cpp`). 2. Start a router on each machine (Step 3). 3. Tell the **workstation's** router to connect to the **robot's** router. The quickest way is to start the router with a configuration override pointing at the robot's IP address: ```bash export RMW_IMPLEMENTATION=rmw_zenoh_cpp export ZENOH_CONFIG_OVERRIDE='connect/endpoints=["tcp/:7447"]' ros2 run rmw_zenoh_cpp rmw_zenohd ``` Replace `` with the IP address of the machine running the ZED node. Once the two routers are linked, every node on either machine can see all the topics. > **Note** > > Just like with DDS, all nodes that need to communicate must share the same [`ROS_DOMAIN_ID`](/docs/integrations/ros-2/dds-and-network-tuning#ros-domain). `rmw_zenoh` honors this variable to isolate independent ROS 2 graphs running on the same network. > **Tip** > > For a permanent setup, copy the default configuration file shipped with the package and edit its `connect`/`listen` endpoints instead of using the override variable: > > ```bash > cp $(ros2 pkg prefix rmw_zenoh_cpp)/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 ~/zenoh_router_config.json5 > export ZENOH_ROUTER_CONFIG_URI=~/zenoh_router_config.json5 > ``` > > When you point `ZENOH_ROUTER_CONFIG_URI` (router) or `ZENOH_SESSION_CONFIG_URI` (nodes) to a file, it **replaces** the default configuration, so always start from a copy of the default file to keep the recommended values. ## Tuning Zenoh for large messages ZED cameras publish large messages: high-resolution images and dense point clouds can each be several MB to tens of MB. Zenoh handles these far better than DDS out of the box, but a few settings help on demanding setups (4K images, high-density point clouds, constrained or wireless links). ### No IP-fragmentation tuning needed Because Zenoh transfers data over TCP, it is **not** affected by the UDP/IP fragmentation problems described in the [DDS and Network Tuning](/docs/integrations/ros-2/dds-and-network-tuning) page. You can skip the `net.ipv4.ipfrag_*` and `net.core.rmem_max` `sysctl` settings when using Zenoh. The default Zenoh configuration already accepts single messages up to **1 GiB** (`transport/link/rx/max_message_size`), which is well above any ZED message size. ### Prevent point clouds and images from being silently dropped This is the **most common issue** when streaming ZED data over Zenoh, and it is worth understanding before anything else. When network congestion occurs, Zenoh decides whether to *drop* a message or *block* the publisher until the message has been pushed out. Which behavior applies depends on the publisher's ROS 2 QoS: * With **KEEP\_LAST** history (the [ZED nodes' default](/docs/integrations/ros-2/zed-stereo-node#qos-profiles): `RELIABLE` + `KEEP_LAST`, depth 10), Zenoh uses a **drop** strategy: if a message cannot be pushed to the network within `wait_before_drop` (**1 ms by default**), it is **silently dropped**. One millisecond is far too short for a multi-MB point cloud or a high-resolution image, so under load these messages can disappear without any error. * With **RELIABLE + KEEP\_ALL** history, Zenoh uses a **block** strategy instead: the publisher waits until the message is fully sent, so nothing is dropped. You have two ways to fix this (both confirmed by `rmw_zenoh` maintainers in [issue #696](https://github.com/ros2/rmw_zenoh/issues/696)): **Option A: Increase the drop timeout (recommended, no QoS change).** Raise `wait_before_drop` (value in **microseconds**) in the terminal where you launch the ZED node, before starting it: ```bash # Wait up to 1 second (1000000 µs) instead of 1 ms before dropping under congestion export ZENOH_CONFIG_OVERRIDE='transport/link/tx/queue/congestion_control/drop/wait_before_drop=1000000' ``` This keeps the ZED nodes' default QoS and lets large messages use the full bandwidth of the link. **Option B: Switch the publisher to RELIABLE + KEEP\_ALL.** Set the topic history to `KEEP_ALL` in the ZED node's YAML configuration so Zenoh switches to the *block* strategy. The trade-off is that a slow subscriber or link can throttle the publisher's rate. See the [QoS profiles](/docs/integrations/ros-2/zed-stereo-node#qos-profiles) section for how to change these settings. > **Warning** > > On **low-bandwidth or wireless links**, combining `RELIABLE` with `TRANSIENT_LOCAL` and a deep history can overwhelm the link when a late-joining subscriber requests the cached messages, eventually closing the transport (`Unable to push non droppable network message ... Closing transport!`). On such links, keep the history depth small and rely on the [data-reduction techniques](#reduce-the-amount-of-data-on-the-wire) below. ### Enable Shared Memory (SHM) for same-machine transfers When the ZED node and its subscribers run on the **same machine**, shared memory lets Zenoh move large messages between processes without copying them through the network stack, a major win for point clouds and images. SHM is **disabled by default**. To enable it, set the following override on **the router and every node** (publisher and subscribers): ```bash export ZENOH_CONFIG_OVERRIDE='transport/shared_memory/enabled=true' ``` > **Note** > > Each `export ZENOH_CONFIG_OVERRIDE=...` replaces the previous value. To apply several overrides, for example SHM and the `wait_before_drop` timeout above, combine them in one variable separated by `;`: > > ```bash > export ZENOH_CONFIG_OVERRIDE='transport/shared_memory/enabled=true;transport/link/tx/queue/congestion_control/drop/wait_before_drop=1000000' > ``` A few things to keep in mind: * The shared-memory segment defaults to **48 MiB** per process. Make sure your host's `/dev/shm` is large enough for all the processes involved. * Inside **Docker**, shared memory is isolated by default. Run your containers with `--ipc=host` (or a large enough `--shm-size`) so that SHM transport works across containers and with the host. * If a write to shared memory fails, Zenoh automatically falls back to the network transport, so enabling SHM is safe. * On startup you may see `zenoh_shm::watchdog ... error setting scheduling priority` warnings. These are **benign** (they relate to real-time thread scheduling) and can be safely ignored under normal conditions. ### Increase the serialization buffer pool `rmw_zenoh` recycles serialization buffers from a pool whose maximum size defaults to **8 MiB**. Messages larger than this still work (they are allocated outside the pool), but raising the limit reduces allocations when streaming many large messages. Set it on the publisher side: ```bash export RMW_ZENOH_BUFFER_POOL_MAX_SIZE_BYTES=33554432 # 32 MiB ``` ### Reduce the amount of data on the wire The most effective tuning is often to **send less data**, especially over Wi-Fi. These techniques are middleware-agnostic and apply to Zenoh exactly as they do to DDS: * **Use compressed image and point cloud topics**: see [Use compressed topics](/docs/integrations/ros-2/dds-and-network-tuning#use-compressed-topics). * **Publish smaller and less frequent data for previews**: see [Use smaller and less frequent information for data preview](/docs/integrations/ros-2/dds-and-network-tuning#use-smaller-and-less-frequent-information-for-data-preview). ### Useful environment variables | Variable | Purpose | | -------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- | | `RMW_IMPLEMENTATION` | Selects the middleware. Set to `rmw_zenoh_cpp`. | | `ZENOH_ROUTER_CHECK_ATTEMPTS` | How many times a node checks for the router at startup (see Step 3). | | `ZENOH_CONFIG_OVERRIDE` | Override individual config keys, e.g. `key/path=value;key2/path=value2`. Used above to enable SHM and raise `wait_before_drop`. | | `ZENOH_ROUTER_CONFIG_URI` | Path to a custom **router** configuration file. | | `ZENOH_SESSION_CONFIG_URI` | Path to a custom **node (session)** configuration file. | | `RMW_ZENOH_BUFFER_POOL_MAX_SIZE_BYTES` | Maximum serialization buffer pool size (default 8 MiB). | | `RUST_LOG` | Zenoh log verbosity, e.g. `RUST_LOG=zenoh=info` for troubleshooting. | > **Note** > > Congestion control and shared-memory transport for very large payloads are actively being improved upstream (finer-grained policies are planned for newer Zenoh releases). If you still hit dropped messages after applying the settings above, reduce the published resolution/frequency and follow the open reports on the [`rmw_zenoh` issue tracker](https://github.com/ros2/rmw_zenoh/issues). ## Switching back to DDS To go back to the default DDS middleware, simply change (or unset) the `RMW_IMPLEMENTATION` variable and stop the Zenoh router: ```bash # Back to Fast DDS (the ROS 2 default) unset RMW_IMPLEMENTATION # or, to use Cyclone DDS export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ``` Remember to also remove the corresponding line from `~/.bashrc` if you added it. For DDS-specific tuning, refer to the [DDS and Network Tuning](/docs/integrations/ros-2/dds-and-network-tuning) page.