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zenoh: Add support for ROS2 Humble and earlier (#26619)

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* Add support for hash-less Zenoh topic key expressions

- Add kConfig option ZENOH_KEY_TYPE_HASH to toggle the inclusion
- Update topic and liveliness generators

* chore: Update Zenoh kConfig param description and help message

* docs(zenoh): Document Zenoh configuration for Humble

* docs: Clarify PX4 ROS2 Interface library compatibility
This commit is contained in:
Leonardo Cencetti
2026-03-04 20:00:58 +01:00
committed by GitHub
parent c5d22f5fea
commit de9698e7fa
4 changed files with 54 additions and 1 deletions
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docs/en/middleware/zenoh.md
+16 -1
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@@ -48,6 +48,11 @@ ros2 run rmw_zenoh_cpp rmw_zenohd
For more information about the Zenoh Router see the [rmw_zenoh](https://github.com/ros2/rmw_zenoh?tab=readme-ov-file#start-the-zenoh-router) documentation.
::: note
From ROS 2 Jazzy onward, `rmw_zenoh` topic key expressions include the message type hash (RIHS01, as defined in REP-2016). This prevents interoperability with ROS 2 Humble and earlier.
For more information about key expressions, refer to the [rmw_zenoh design documentation](https://github.com/ros2/rmw_zenoh/blob/jazzy/docs/design.md#topic-and-service-name-mapping-to-zenoh-key-expressions).
:::
## PX4 Zenoh-Pico Node Setup
### PX4 Firmware
@@ -78,6 +83,12 @@ You can check if Zenoh is present at runtime by using QGroundControl to [find th
If present, the module is installed.
:::
::: warning
Interoperability with ROS 2 Humble and earlier requires setting `CONFIG_ZENOH_KEY_TYPE_HASH=n` to disable the
inclusion of the message type hash (RIHS01, as defined in REP-2016) in the Zenoh key expression.
Note that this will break compatibility with ROS 2 Jazzy and later.
:::
### Enable Zenoh on PX4 Startup
Set the [ZENOH_ENABLE](../advanced_config/parameter_reference.md#ZENOH_ENABLE) parameter to `1` to enable Zenoh on PX4 startup.
@@ -93,7 +104,7 @@ If you're using a different IP for the Zenoh daemon, run the following command (
zenoh config net client tcp/10.41.10.1:7447#iface=eth0
```
Note that for the simulation target with Zeroh (`px4_sitl_zenoh`) you won't need to make any changes because the default IP address of the Zenoh daemon is set to `localhost`.
Note that for the simulation target with Zenoh (`px4_sitl_zenoh`) you won't need to make any changes because the default IP address of the Zenoh daemon is set to `localhost`.
:::warning
Any changes to the network configuration require a PX4 system reboot to take effect.
@@ -198,3 +209,7 @@ Subscription count: 0
The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) works out of the box with Zenoh as a transport backend.
This means you can publish and subscribe to PX4 topics over Zenoh without changing your ROS 2 nodes or dealing with DDS configuration.
For setup details and supported message types, refer to the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
::: info
The PX4 ROS 2 Interface Library is not compatible with ROS 2 Humble and earlier, as it requires the message type hash (RIHS01, as defined in REP-2016) to be included in the Zenoh key expression.
:::
docs/en/ros2/px4_ros2_interface_lib.md
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@@ -6,6 +6,10 @@
At the time of writing, parts of the PX4 ROS 2 Interface Library are experimental, and hence subject to change.
:::
:::info
When using `rmw_zenoh`, the PX4 ROS 2 Interface Library requires ROS 2 Jazzy or later, and is not compatible with ROS 2 Humble or earlier.
:::
The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2.
The library provides three high-level interfaces for developers: