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ros2 / rmw_zenoh

RMW for ROS 2 using Zenoh as the middleware
Apache License 2.0
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Available Testing? #145

Closed bagelbytes61 closed 5 months ago

bagelbytes61 commented 6 months ago

Hello.

Is there any comprehensive testing available to run against the Zenoh RMW beyond the talker/listener example described in the README? We are eager to assist in debugging #143 and also help uncover any additional bugs present on Ubuntu 24.04, and it would be extremely valuable for us to be able to run the tests ourselves in order to facilitate that. If they do exist would it be possible for you to point us in the right direction and potentially give a brief explanation of how to run the tests?

Thank you.

Yadunund commented 6 months ago

There's nothing preventing one from running any existing ROS 2 application (eg. Nav2, moveit, Open-RMF, etc) with rmw_zenoh instead of the default middleware option. So you're not limited to just talker/listener.

There are the official ROS 2 system_tests which you could try although some modifications may be needed to the test cases.

Please be mindful that the rmw_zenoh is still under active development (not yet ready for widespread testing) and the core team is spread pretty thin between development here and the Jazzy release. So we may not be able to guide you as expected but would greatly appreciate your efforts with testing and fixing any bugs encountered.

Yadunund commented 5 months ago

I've run rmw_zenoh through all the system tests and opened bug tickets with issues that surfaced. If you're still able to help, please take a look at those tickets.