Middleware

ROS2 and DDS Setup

This section focuses on installation guidelines for the ROS 2 middleware stack and related tools.

Two different "Zenoh" things — don't confuse them:

• Embedded zenoh-c — the Zenoh C library that the OM1 Go runtime links against for its own messaging (internal/zenoh). It is downloaded automatically by make deps (the download-zenohc target); you don't install it separately.

• zenoh-bridge-ros2dds — a standalone bridge that connects a ROS 2 / DDS network to Zenoh. You install this only when integrating OM1 with an existing ROS 2 system, per the Zenoh Bridge guide below.

Middleware components

The following guides walk you through installing and configuring the supported middleware implementations:

• CycloneDDS: Install and configure the CycloneDDS RMW implementation for ROS 2.

• ROS 2 Humble: Set up the ROS 2 Humble distribution, including core tools and environment configuration.

• Zenoh Bridge: Install and configure the Zenoh bridge for integrating ROS 2 with Zenoh-based systems.