> For the complete documentation index, see [llms.txt](https://docs.openmind.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.openmind.com/build/middleware.md).

# 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](/build/middleware/zenoh-bridge.md) guide below.

### Middleware components

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

* [CycloneDDS](/build/middleware/cyclonedds.md): Install and configure the CycloneDDS RMW implementation for ROS 2.
* [ROS 2 Humble](/build/middleware/ros2-humble.md): Set up the ROS 2 Humble distribution, including core tools and environment configuration.
* [Zenoh Bridge](/build/middleware/zenoh-bridge.md): Install and configure the Zenoh bridge for integrating ROS 2 with Zenoh-based systems.


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