"Taming the Dragon": ROS2 Robot-to-Anything with Zenoh
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Welcome to the third webinar in the "Taming the Dragon" series about Zenoh and its use for robotics, autonomous vehicle and Internet-scale HPC communities. In this webinar, Julien Enoch, our Senior Solutions Architect here at ZettaScale Technology, talks about how Zenoh can be used to swarm and teleoperate ROS and ROS2-based robots and give them access to the ease-of-use, efficiency, performance and connectivity of the Zenoh platform. Zenoh is a Pub/Sub/Query protocol that unifies data in motion, data at rest and computations from embedded microcontrollers up to data centers. You can read more about Zenoh and give it a try here: https://www.zettascale.tech/product/zenoh Stay up to date with the latest news: Twitter: https://twitter.com/zettascaletech LinkedIn: https://www.linkedin.com/company/zettascaletech/ Website: https://www.zettascale.tech/ Newsletter: http://eepurl.com/igPw31
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"Taming the Dragon": ROS2 Robot-to-Anything with Zenoh
- 1. Taming the Dragon — Ep. 3 ROS 2 Robot-to-Anything with Zenoh Julien Enoch Senior Solutions Architect julien.enoch@zettascale.tech
- 2. Six Episodes Nov 22nd — Zenoh Genesis (Recording ) Nov 29th — Zenoh: Getting Started (Recording ) Dec 6th — ROS 2 Robot-to-Anything with Zenoh Dec 13th — Zenoh on Microcontrollers and Low Power Networks Dec 20th — Integrating DataBases and Messaging Protocols with Zenoh Jan 6th — Data Flow Programming with Zenoh-Flow All episodes run live on the given day at 10.00 CET and 18.00 CET to facilitate participation from around the globe!
- 3. Peer declare_subscriber (**/temp).mode(Pull) Peer declare_queryable (elec_consumption) Peer get(elec_consumption) Peer get(room/**/hum) Peer put(room/2/hum, 42) (room/**) • Pub / Sub (push) Peer put(room/1/temp, 19) Peer declare_subscriber (room/1/temp) pull() • Pub / Sub (pull) • Get / Reply • Pub / Store / Get Pub / Sub... but not only!
- 4. Router Router Any topology Peer-to-peer Clique and mesh topologies Brokered Routed Router Router Router Client Client Routed Routers forward data to and from peers and clients Brokered Clients communicate through a router or a peer Mesh Peer Peer Peer Peer Peer Router Client Client Client Client Router Router Client Clique Peer Peer Peer Peer
- 5. ROS 2 ❤ DDS
- 6. ROS 2 is based on DDS Picture: S. Macenski, T. Foote, B. Gerkey, C. Lalancette, W. Woodall, “Robot Operating System 2: Design, architecture, and uses in the wild,” Science Robotics vol. 7, May 2022. https://arxiv.org/pdf/2211.07752.pdf ROS 2 node interfaces: topic, services and action •DDS is pub/sub on topics •ROS 2 mapping: ROS 2 DDS topics Topic: /abc rt/abc Service: /svc rq/svcRequest rr/svcReply Action: /act rq/act/_action/send_goalRequest rr/act/_action/send_goalReply rq/act/_action/cancel_goalRequest rr/act/_action/cancel_goalReply rq/act/_action/get_resultRequest rr/act/_action/get_resultReply rt/act/_action/feedback rt/act/_action/status
- 7. DDS: perfect for wired LAN, but... Designed to work on a wired- network with low message loss Does not work o ff the shelf over the Internet Hard to scale on at Internet Scale without breaking its semantics Steep Learning Curve Push Mode Only DDS Global Data Space ... Data Writer Data Writer Data Writer Data Reader Data Reader Data Reader Data Reader Data Writer TopicA QoS TopicB QoS TopicC QoS TopicD QoS
- 8. DDS ❤ Zenoh
- 9. DDS Zenoh Kafka MQTT Pub/Sub (Push) ✔ ✔ 𐄂 ✔ Pub/Sub (Pull) 𐄂 ✔ ✔ 𐄂 Distributed Query 𐄂 ✔ 𐄂𐄂 High Performance ✔ ✔ 𐄂𐄂 Constrained HW 𐄂 ✔ 𐄂 ✔ Constrained Networks 𐄂 ✔ 𐄂𐄂 Internet Scale Deployment 𐄂 ✔ ✔ ✔ Standard Based ✔ 𐄂𐄂 ✔ QoS ✔ ✔ 𐄂 ✔ Peer2Peer ✔ ✔ 𐄂𐄂 Brokered 𐄂 ✔ ✔ ✔ Routed 𐄂 ✔ 𐄂𐄂 Feature Matrix
- 10. Zenoh vs DDS Discovery Open Robotics performed a comparative evaluation of Zenoh and DDS (full report) The results showed how much more e ffi cient zenoh discovery is compared to DDS 1 8 www.openrobotics.org www.openrobotics.org Some interesting results Discovery traffic versus application traffic Some interesting results Multicast traffic versus unicast and TCP traffic (Multicast is a great way to bring down a poorly-configured network)
- 11. SSE … Extensible … Enhance zenoh with plugins Interact with other technologies
- 12. SSE … https://github.com/eclipse-zenoh/zenoh-plugin-dds … Enhance zenoh with plugins Interact with other technologies
- 13. Plugin or standalone ? Plugin: •Dynamic library (in Rust) •Loaded by a Zenoh router (at startup or at runtime) •Shares the Zenoh Runtime with the router => direct method calls to the router Zenoh Router REST Plugin DDS Plugin Standalone: •Same plugin but statically linked ! •Just a main() starting a Zenoh Runtime and 1 or more plugins •Can be a Zenoh peer or a Zenoh client zenoh-bridge-dds REST Plugin DDS Plugin
- 14. ROS 2 ⬌ DDS ⬌ Zenoh mapping
- 15. ROS 2 ⬌ DDS ⬌ Zenoh mapping zenoh-bridge-dds DW DR Pub Sub /cmd_vel /scan rt/scan rt/cmd_vel
- 16. ROS 2 ⬌ DDS ⬌ Zenoh mapping zenoh-bridge-dds DW DR DR DW Pub Sub /cmd_vel /scan rt/scan rt/cmd_vel put() sub() rt/scan rt/cmd_vel
- 17. ROS 2 ⬌ DDS ⬌ Zenoh mapping zenoh-bridge-dds DW DR DR DW Pub Sub /cmd_vel /scan rt/scan rt/cmd_vel put() sub() rt/scan rt/cmd_vel sub() put()
- 18. ROS 2 ⬌ DDS ⬌ Zenoh mapping zenoh-bridge-dds DW DR DR DW Pub Sub /cmd_vel /scan rt/scan rt/cmd_vel put() sub() rt/scan rt/cmd_vel sub() put() zenoh-bridge-dds --scope bot1 zenoh-bridge-dds --scope bot2 /scan rt/imu rt/cmd_vel /cmd_vel bot1/rt/scan bot2/rt/scan /scan rt/scan rt/cmd_vel /cmd_vel
- 19. ROS 2 ⬌ DDS ⬌ Zenoh mapping zenoh-bridge-dds DW DR DR DW Pub Sub /cmd_vel /scan rt/scan rt/cmd_vel put() sub() rt/scan rt/cmd_vel sub() put() zenoh-bridge-dds --scope bot1 zenoh-bridge-dds --scope bot2 sub() /scan rt/imu rt/cmd_vel /cmd_vel bot1/rt/scan **/rt/scan bot2/rt/scan /scan rt/scan rt/cmd_vel /cmd_vel
- 20. ROS 2 ⬌ DDS ⬌ Zenoh mapping zenoh-bridge-dds DW DR DR DW Pub Sub /cmd_vel /scan rt/scan rt/cmd_vel put() sub() rt/scan rt/cmd_vel sub() put() zenoh-bridge-dds --scope bot1 zenoh-bridge-dds --scope bot2 sub() put() /scan rt/imu rt/cmd_vel /cmd_vel bot1/rt/scan **/rt/scan bot2/rt/scan /scan rt/scan rt/cmd_vel /cmd_vel bot2/rt/cmd_vel
- 21. 2 modes on discovery of DDS Readers/Writers •Pros: •Minimal discovery tra ffi c •Cons: •No remote topic list, no global Nodes graph •Services work only if server started at fi rst Forward discovery: •Forwards discovery info to the remote bridge •The remote bridge creates proxy (identical) DDS Entities Mirror (default): •Creates local routes only, with mirror (matching) DDS Entities •Pros: •Topic list and Nodes graph work everywhere •Cons: •More discovery tra ffi c between the bridges (still less than DDS)
- 22. Use cases zenoh-bridge-dds --scope bot1 zenoh-bridge-dds --scope bot2 Fleet Manager Fleet Management zenoh-bridge-dds --scope simu zenoh-bridge-dds --scope reel Zenoh router Replay Record / Replay zenoh-bridge-dds Zenoh router SSE Integrations zenoh-bridge-dds pico Pub/Sub with MCUs zenoh-bridge-dds zenoh-bridge-dds Zenoh router NAT Cross-WAN bridging (routed or direct) NAT
- 23. 🙌 Hands-on !
- 25. Adding a real robot with camera HTTP Zenoh TCP zenoh-bridge-dds http://demo.zenoh.io demo.zenoh.io Zenoh Router REST Plugin simu/rt/cmd_vel zenoh-bridge-dds zcapture bot1/rt/cmd_vel bot1/cams/0 Web Server Plugin
- 27. SSE … What's next ? … Enhance zenoh with plugins Interact with other technologies
- 28. Don’t forget to visit Zenoh’s website… https://zenoh.io/ … zenoh-plugin-dds GitHub … https://github.com/ eclipse-zenoh/zenoh-plugin-dds … and to join Zenoh’s Discord server! https://discord.gg/ 2GJ958VuHs
- 29. Patience, persistence and perspiration make an unbeatable combination for success. Thank You