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docs(ROS 2): mention Zenoh middleware in main ROS 2 doc page

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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
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Beniamino Pozzan
2026-03-15 16:23:56 +00:00
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docs/en/ros2/index.md
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@@ -15,17 +15,21 @@ It can be used, for example, for [computer vision](../computer_vision/index.md)
ROS 2 enables a very deep integration with PX4, to the extent that you can create flight modes in ROS 2 that are indistinguisable from internal PX4 modes, and directly read from and write to internal uORB topics at high rate.
It is recommended (in particular) for control and communication from a companion computer where low latency is important, when leveraging existing libraries from Linux, or when writing new high level flight modes.
Communication between ROS 2 and PX4 uses middleware that implements the [XRCE-DDS protocol](../middleware/uxrce_dds.md).
This middleware exposes PX4 [uORB messages](../msg_docs/index.md) as ROS 2 messages and types, effectively allowing direct access to PX4 from ROS 2 workflows and nodes.
The middleware uses uORB message definitions to generate code to serialise and deserialise the messages heading in and out of PX4.
Communication between ROS 2 and PX4 can leverage two independent middlewares:
- [XRCE-DDS protocol](../middleware/uxrce_dds.md) - more tested and included by default in most PX4 builds.
- [Zenoh protocol](../middleware/zenoh.md) - it needs to be manually enabled and added to PX4 builds.
The middlewares expose PX4 [uORB messages](../msg_docs/index.md) as ROS 2 messages and types, effectively allowing direct access to PX4 from ROS 2 workflows and nodes.
The middlewares use uORB message definitions to generate code to serialise and deserialise the messages heading in and out of PX4.
These same message definitions are used in ROS 2 applications to allow the messages to be interpreted.
::: info
ROS 2 can also connect with PX4 using [MAVROS](https://github.com/mavlink/mavros/tree/ros2/mavros) instead of XRCE-DDS.
ROS 2 can also connect with PX4 using [MAVROS](https://github.com/mavlink/mavros/tree/ros2/mavros) instead of XRCE-DDS / Zenoh.
This option is supported by the MAVROS project (it is not documented here).
:::
To use the [ROS 2](../ros2/user_guide.md) over XRCE-DDS effectively, you must (at time of writing) have a reasonable understanding of the PX4 internal architecture and conventions, which differ from those used by ROS.
To use the [ROS 2](../ros2/user_guide.md) over XRCE-DDS / Zenoh effectively, you must (at time of writing) have a reasonable understanding of the PX4 internal architecture and conventions, which differ from those used by ROS.
In the near term future we plan to provide ROS 2 APIs to abstract PX4 conventions, along with examples demonstrating their use.
## Topics
@@ -41,4 +45,5 @@ The main topics in this section are:
## Further Information
- [XRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md): PX4 middleware for connecting to ROS 2.
- [XRCE-DDS (PX4-ROS 2/DDS Bridge)](../middleware/uxrce_dds.md): PX4 middleware leveranging micro XRCE-DDS for connecting to ROS 2.
- [Zenoh (PX4 ROS 2)](../middleware/zenoh.md): PX4 middleware leveraging Zenoh pico for connecting to ROS 2.