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

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Understand the Zenoh configuration files

rmw_zenoh uses two configuration files with different responsibilities:

  • ROUTER_CONFIG.json5 configures the Zenoh router
  • SESSION_CONFIG.json5 configures the normal ROS 2 and Zenoh sessions

Keep the installed templates unchanged. You copy them to ~/container_data/ so you can modify the working copies later. This directory is a Docker volume, so the files persist when the container restarts and are also accessible from the host.

Copy the router and session configurations

Open a terminal in the robot container. Copy each installed template to the corresponding working file:

    

        
        
cp /opt/ros/jazzy/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 \
  ~/container_data/ROUTER_CONFIG.json5

cp /opt/ros/jazzy/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 \
  ~/container_data/SESSION_CONFIG.json5
Important

The two commands look similar, but the source files are different. Copy DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 to ROUTER_CONFIG.json5 and DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 to SESSION_CONFIG.json5.

Load the workshop environment

Source the workshop environment so ROS 2 uses the new configuration files:

    

        
        
source ~/workshop_env.bash

The output should show both exported paths:

    

        
        ZENOH_ROUTER_CONFIG_URI=/home/ubuntu/container_data/ROUTER_CONFIG.json5
ZENOH_SESSION_CONFIG_URI=/home/ubuntu/container_data/SESSION_CONFIG.json5
Note

From this point, run source ~/workshop_env.bash whenever you open a new terminal in the robot container.

What you’ve accomplished and what’s next

You’ve created and verified separate router and session configurations, then loaded their paths into the ROS 2 environment. Next, you’ll use three ROS 2 processes to observe the router’s role in discovery.

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