rmw_zenoh
A ROS 2 RMW implementation using the Zenoh protocol for efficient, scalable, and configurable middleware communication.
What is rmw_zenoh?
rmw_zenoh is a ROS 2 middleware (RMW) implementation that replaces the default DDS-based communication layer with the Zenoh protocol. It enables ROS 2 nodes to communicate using Zenoh's efficient data-centric pub/sub and query/response models, offering improved scalability, lower latency, and flexible deployment options for distributed robotics and IoT systems.
ROS 2 developers and robotics engineers building distributed systems that require scalable, low-latency communication across multiple machines or flexible network topologies, such as multi-robot fleets or cloud-connected robotic applications.
Developers choose rmw_zenoh over default DDS-based RMW implementations for its superior scalability, configurable network topologies (peer-to-peer, routed, client-server), and built-in shared memory optimization that works without requiring loaned messages API, reducing latency for intra-host communication.
Overview
RMW for ROS 2 using Zenoh as the middleware
Use Cases
Best For
- Building scalable multi-robot systems where nodes need to communicate efficiently across multiple machines with configurable discovery mechanisms.
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