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eclipse-zenoh / zenoh-plugin-ros2dds

A Zenoh plug-in for ROS2 with a DDS RMW. See https://discourse.ros.org/t/ros-2-alternative-middleware-report/ for the advantages of using this plugin over other DDS RMW implementations.
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[Bug] Connection between zenoh-bridge-ros2dds and regular ros2 zenoh node #331

Closed KenN7 closed 3 hours ago

KenN7 commented 4 hours ago

Describe the bug

A ros2 node with rmw_zenoh cannot to connect to the router of the zenoh-bridge-ros2dds.

ERROR net-0 ThreadId(03) zenoh_transport::unicast::establishment::open: 
Received a close message (reason INVALID) in response to an InitSyn

To reproduce

Launch the docker image eclipse/zenoh-bridge-ros2dds:latest Then launch a ros2 node with zenoh as rmw (e.g. https://github.com/ZettaScaleLabs/roscon2024_workshop/blob/main/docker/Dockerfile). The ros2 node will not connect to the router of the bridge. This is probably due to a problem of zenoh version between the two, but I have no idea how to sync the version between the 2 software. the rwm_zenoh has only "rolling" version, whereas the bridge feature versions.

System info

Mallets commented 4 hours ago

rmw_zenoh is still using zenoh 0.11.0 while eclipse/zenoh-bridge-ros2dds:latest is already zenoh 1.0.2. With rmw_zenoh you should use 0.11.0 bridge.

In addition, the rmw_zenoh porting to zenoh 1.0.2 is happening here. Any additional testing is also very welcome.

JEnoch commented 3 hours ago

Still zenoh-bridge-ros2dds is not compatible with rmw_zenoh, thus it won't work even if underlying Zenoh versions are the same.

The reason being that rmw_zenoh is using a different mapping of ROS msg/srv/actions to Zenoh key expressions than the zenoh-bridge-ros2dds. The key expressions for the Liveliness tokens used for discovery are different as well.

We have no short term plan to make the zenoh-bridge-ros2dds compatible with rmw_zenoh, as this is a significant work.