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ROS 2 Jazzy Jalisco Full Desktop + FoxGlove-Studio Bridge + Zenoh RMW

Zenoh router is started as a backgroud process and everything is sourced as /zenoh_entrypoint.sh is triggered.

Step 1: Pull the Docker Image

docker pull airlabpolimi/ros2-zenoh-full-desktop:jazzy

Step 2: Start the Docker Container

In the first terminal, run:

docker run -it --name ros2-zenoh-container airlabpolimi/ros2-zenoh-full-desktop:jazzy

Step 3: Run the ROS 2 TALKER Node

Inside the container (still in the first terminal), execute:

ros2 run demo_nodes_cpp talker

Step 4: Access the Running Container

Open a new terminal and enter:

docker exec -it ros2-zenoh-container /bin/bash

Step 5: Run the ROS 2 LISTENER Node

Inside the container (still in the second terminal), execute:

ros2 run demo_nodes_cpp listener

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Authors

• Mirko Usuelli, Ph.D. Candidate @ AIRLab, Politecnico di Milano [LinkedIn][GitHub]

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