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Migrate to rmw_zenoh_cpp #140

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Migrate to rmw_zenoh_cpp #140

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@aaronchongth aaronchongth commented Dec 19, 2025 •
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What's new

Fixes #56

  • migrate to rmw_zenoh_cpp
  • remove nexus_zenooh_bridge_dds_vendor package and its uses
  • remove uses of nexus_network_configuration package
  • change all executors to events executors
  • remove hacky pkill zenoh workaround in tests
  • remove ROS_DOMAIN_ID manipulation of workcells
Screencast.From.2025-12-22.10-16-21.mp4

Notes

  • below is how the current architecture looks like
  • since the nodes are all p2p and only rely on the routers for discovery, applying ACL on the workcell's or inter-workcell's routers will not work as the network traffic do not pass through these routers
  • hence the need for additional routers that act as bridges, connecting multiple isolated routers. ACL is applied on these bridge routers
  • namespaces were not used

router architecture (1)

GenAI Use

We follow OSRA's policy on GenAI tools

  • I used a GenAI tool in this PR.
  • I did not use GenAI

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@aaronchongth aaronchongth mentioned this pull request Dec 19, 2025
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@aaronchongth
update docs, default values, and tests
6198fab 
Signed-off-by: Aaron Chong <[email protected]>
@aaronchongth
fix cmakelists file
19e6454 
Signed-off-by: Aaron Chong <[email protected]>
@aaronchongth
remove pkill workaround
c4482d7 
Signed-off-by: Aaron Chong <[email protected]>
@aaronchongth
test without rmf
b925f26 
Signed-off-by: Aaron Chong <[email protected]>
@aaronchongth
revert RMF test
4f9a434 
Signed-off-by: Aaron Chong <[email protected]>
@aaronchongth
change all executors to events executors
f4b9114 
Signed-off-by: Aaron Chong <[email protected]>
@aaronchongth aaronchongth requested review from Yadunund and luca-della-vedova and removed request for Yadunund and luca-della-vedova December 22, 2025 02:44
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@Yadunund Yadunund Awaiting requested review from Yadunund

@luca-della-vedova luca-della-vedova Awaiting requested review from luca-della-vedova

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Migration to rmw_zenoh

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