roboflex.transport.zenoh 0.1.3

Roboflex Transport Zenoh Library

roboflex.transport.zenoh

Roboflex transport nodes powered by Zenoh. Zenoh gives us pub/sub plus automatic discovery, so we can move roboflex messages across threads, processes, and machines without needing to manage a broker manually.

any node -> ZenohPublisher ==THE_NETWORK==> ZenohSubscriber -> any node

Status

This transport mirrors the ZMQ/MQTT bindings but uses zenoh-c under the hood, with Zenoh discovery/scouting enabled by default. Nodes:

• ZenohPublisher: publishes raw roboflex messages to a Zenoh key expression.
• ZenohSubscriber: subscribes to a key expression and signals incoming messages. It runs its own thread (call start()).

Build (C++)

mkdir build && cd build
cmake ..
make

Example

See examples/pub_sub_0_cpp.cpp for a simple publisher/subscriber wiring:

auto session = transportzenoh::MakeZenohSession();
transportzenoh::ZenohPublisher pub(session, "roboflex/demo");
transportzenoh::ZenohSubscriber sub(session, "roboflex/demo");
sub.start();

examples/pub_sub_config_cpp.cpp shows a more explicit setup: setting mode/explicit endpoints, turning off multicast scouting, using express/priority publisher settings, and allowing any origin on the subscriber.

Python

Python bindings mirror the C++ API (ZenohSession, ZenohPublisher, ZenohSubscriber). Build via pip install . from the repo root after building the C++ library, like the other transport packages.

Configuration knobs

• ZenohSession: accepts an optional config_json (JSON/JSON5 matching the Zenoh config schema), explicit mode (peer, client, router), connect_endpoints, listen_endpoints, and enable_multicast_scouting toggle.
• ZenohPublisher: opts for express (no batching), priority, and allowed_destination (see zc_locality_t).
• ZenohSubscriber: accepts allowed_origin (also zc_locality_t).
• Key expressions follow Zenoh’s rules and support wildcards; see Zenoh key expressions.

System Dependencies

None beyond what the build pulls automatically: roboflex_core and zenoh-c are fetched via CMake FetchContent.