Build a ROS 2 and Zenoh simulation environment on an Arm server
Introduction
Start the ROS 2 development containers
Configure Zenoh for ROS 2
Observe Zenoh router discovery behaviour
Start the robot simulation and Navigation2
Visualize and navigate the robot with RViz
Control the robot directly
Observe simulation resource usage
Enable Zenoh shared-memory transport
Next Steps
Build a ROS 2 and Zenoh simulation environment on an Arm server
Introduction
Start the ROS 2 development containers
Configure Zenoh for ROS 2
Observe Zenoh router discovery behaviour
Start the robot simulation and Navigation2
Visualize and navigate the robot with RViz
Control the robot directly
Observe simulation resource usage
Enable Zenoh shared-memory transport
Next Steps
Who is this for?
Developers who want to build and examine a containerized ROS 2 robotics simulation on an Arm server.
What will you learn?
Upon completion of this Learning Path, you will be able to:
- Set up a Docker-based ROS 2 Jazzy development and simulation environment on an Arm server
- Configure `rmw_zenoh` as the ROS 2 middleware and explore communication between ROS 2 nodes
- Launch and interact with a Neobotix ROX robot simulation using Gazebo, Navigation2, and RViz
- Evaluate Zenoh router behaviour and the effect of shared-memory transport
Prerequisites
Before starting, you will need the following:
- An Arm server running Linux with at least 8 CPU cores, 16 GB of RAM, and 30 GB of free disk space
- Docker and Docker Compose installed
- Network access to ports 6080 and 6081 on the Arm server
- Basic familiarity with Linux terminal commands