Zenoh pico issue with Jazzy

[MarqRazz]

Host PC

I'm running a docker container (osrf/ros:jazzy-desktop) with.

RMW_IMPLEMENTATION =rmw_zenoh_cpp
ROS_DOMAIN_ID=0

and even tried playing around with this config

# echo $ZENOH_SESSION_CONFIG_URI 
/root/.ros/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

When I run the router I get

# ros2 run rmw_zenoh_cpp rmw_zenohd
2025-07-24T22:33:23.336315Z  INFO ThreadId(02) zenoh::net::runtime: Using ZID: 3904eaf179e47880d2038e6e6a868ff9
2025-07-24T22:33:23.336691Z  INFO ThreadId(02) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/[fe80::cff9:d45:fd33:6fda]:7447
2025-07-24T22:33:23.336694Z  INFO ThreadId(02) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/[fe80::945:28b0:7131:11d6]:7447
2025-07-24T22:33:23.336695Z  INFO ThreadId(02) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/192.168.9.<LAN>:7447
2025-07-24T22:33:23.336696Z  INFO ThreadId(02) zenoh::net::runtime::orchestrator: Zenoh can be reached at: tcp/192.168.9.<WIFI>:7447
Started Zenoh router with id 3904eaf179e47880d2038e6e6a868ff9

where WIFI is the host's IP address and the ROS2 talker/listener cpp examples work as expected.

Embedded device setup.

• I followed this tutorial and purchased a esp32-s3-devkitm-1.
• Setup my platformio.ini for the above device
• Updated SSID and PASS for my network (I can ping the device from my host)
• Updated CONNECT with #define CONNECT "tcp/192.168.9.<WIFI>:7447" to talk to my host PC
• Built/uploaded the code to the device

Through the serial interface prints I can see it is able to join my wifi, but the Zenoh Session fails to start.

Any suggestions on how I can debug this further. I'm not sure how to check why z_open fails when you check if the session is valid/open.

[MarqRazz]

Okay running the eclipse/zenoh:main docker router allows my ESP32 to connect 🎉 and prints the following config:

Click to view router config output

Initial conf:{
  "adminspace":{"permissions":{"read":true,"write":false}},
  "aggregation":{"publishers":[],"subscribers":[]},
  "connect":{"endpoints":[]},
  "id":"98155f4c6c6caff86388b7b34fe3eb94",
  "listen":{"endpoints":["tcp/[::]:7447"]},
  "metadata":null,
  "mode":"router",
  "plugins":{"rest":{"__required__":true,"http_port":"8000"}},
  "plugins_search_dirs":[],
  "queries_default_timeout":null,
  "routing":{"peer":{"mode":null},"router":{"peers_failover_brokering":null}},
  "scouting":{
    "delay":null,
    "gossip":{"autoconnect":null,"enabled":null,"multihop":null},
    "multicast":{"address":null,"autoconnect":null,"enabled":true,"interface":null,"listen":null},
    "timeout":null
  },
  "timestamping":{"drop_future_timestamp":null,"enabled":null},
  "transport":{
    "auth":{
      "pubkey":{
        "key_size":null,"known_keys_file":null,"private_key_file":null,
        "private_key_pem":null,"public_key_file":null,"public_key_pem":null
      },
      "usrpwd":{"dictionary_file":null,"password":null,"user":null}
    },
    "link":{
      "protocols":null,
      "rx":{"buffer_size":65535,"max_message_size":1073741824},
      "tls":{
        "client_auth":null,
        "client_certificate":null,
        "client_private_key":null,
        "root_ca_certificate":null,
        "server_certificate":null,
        "server_name_verification":null,
        "server_private_key":null
      },
      "tx":{
        "batch_size":65535,
        "keep_alive":4,
        "lease":10000,
        "queue":{
          "backoff":100,
          "size":{
            "background":1,
            "control":1,
            "data":4,
            "data_high":2,
            "data_low":2,
            "interactive_high":1,
            "interactive_low":1,
            "real_time":1}
          },
        "sequence_number_resolution":"32bit",
        "threads":8
      },
      "unixpipe":{"file_access_mask":null}
    },
    "multicast":{"compression":{"enabled":false},"join_interval":2500,"max_sessions":1000,"qos":{"enabled":false}},
    "shared_memory":{"enabled":false},
    "unicast":{
      "accept_pending":100,
      "accept_timeout":10000,
      "compression":{"enabled":false},
      "lowlatency":false,
      "max_links":1,
      "max_sessions":1000,
      "qos":{"enabled":true}}
  }
}

I've been comparing it to DEFAULT_RMW_ZENOH_ROUTER_CONFIG but have not figured out how to allow a router run with
ros2 run rmw_zenoh_cpp rmw_zenohd to connect with the ESP.

[YuanYuYuan]

Hi @MarqRazz!

1. You can comment out all the "ROS setting:" in the config to get the same zenohd used in the Docker.
2. We expose the ports in the Zenoh docker that might make a difference. You can either add it to your Docker or use --net=host mode with the ROS Docker.

[MarqRazz]

I run the ROS docker with net host and several other privileges.

docker run -it --privileged \
                    --net=host \
                    --gpus all \
                    --env=DISPLAY \ ....

I will make a docker file and manually expose the ports and see if that helps.

I have also been trying to see the topic that my microcontroller is publishing when connected with the zenoh docker router. I downloaded a REST plugin for my browser and called GET on http://localhost:8000/** but I don't see any publishers in the output. I need to get the REST server running with the ROS launch ros2 run rmw_zenoh_cpp rmw_zenohd and see what I get with the talker listener example.

{
  "body": "[\n{ \"key\": \"@/router/bca07d1a58f9fabe2aafbb9bbac135dc/status/plugins/rest/__path__\", \"value\": /libzenoh_plugin_rest.so, \"encoding\": \"application/json\", \"time\": \"None\" },\n{ \"key\": \"@/router/bca07d1a58f9fabe2aafbb9bbac135dc/status/plugins/rest/port\", \"value\": {\"__config__\":null,\"__path__\":null,\"__required__\":true,\"http_port\":\"[::]:8000\"}, \"encoding\": \"application/json\", \"time\": \"None\" },\n{ \"key\": \"@/router/bca07d1a58f9fabe2aafbb9bbac135dc/status/plugins/rest/version\", \"value\": \"v0.11.0-dev-74-gb669489b\", \"encoding\": \"application/json\", \"time\": \"None\" },\n{ \"key\": \"@/router/bca07d1a58f9fabe2aafbb9bbac135dc/linkstate/peers\", \"value\": \"graph {\\n    0 [ label = \\\"bca07d1a58f9fabe2aafbb9bbac135dc\\\" ]\\n}\\n\", \"encoding\": \"text/plain\", \"time\": \"None\" },\n{ \"key\": \"@/router/bca07d1a58f9fabe2aafbb9bbac135dc/subscriber/@/router/bca07d1a58f9fabe2aafbb9bbac135dc/config/**\", \"value\": \"\", \"encoding\": \"application/octet-stream\", \"time\": \"None\" },\n{ \"key\": \"@/router/bca07d1a58f9fabe2aafbb9bbac135dc\", \"value\": {\"locators\":[\"tcp/[2607:fb91:7e8:8bb8:94af:3dbb:d50e:51d]:7447\",\"tcp/[2607:fb91:7e8:8bb8:c9c:8642:37d7:7aa3]:7447\",\"tcp/[fe80::2249:3f73:53f9:713a]:7447\",\"tcp/10.253.144.153:7447\"],\"metadata\":null,\"plugins\":{\"rest\":{\"path\":\"/libzenoh_plugin_rest.so\"}},\"sessions\":[],\"version\":\"v0.11.0-dev-74-gb669489b built with rustc 1.72.0 (5680fa18f 2023-08-23)\",\"zid\":\"bca07d1a58f9fabe2aafbb9bbac135dc\"}, \"encoding\": \"application/json\", \"time\": \"None\" },\n{ \"key\": \"@/router/bca07d1a58f9fabe2aafbb9bbac135dc/linkstate/routers\", \"value\": \"graph {\\n    0 [ label = \\\"bca07d1a58f9fabe2aafbb9bbac135dc\\\" ]\\n}\\n\", \"encoding\": \"text/plain\", \"time\": \"None\" },\n{ \"key\": \"@/router/bca07d1a58f9fabe2aafbb9bbac135dc/metrics\", \"value\": \"# HELP zenoh_build Informations about zenoh.\\n# TYPE zenoh_build gauge\\nzenoh_build{version=\\\"v0.11.0-dev-74-gb669489b built with rustc 1.72.0 (5680fa18f 2023-08-23)\\\"} 1\\n\", \"encoding\": \"text/plain\", \"time\": \"None\" },\n{ \"key\": \"@/router/bca07d1a58f9fabe2aafbb9bbac135dc/queryable/@/router/bca07d1a58f9fabe2aafbb9bbac135dc/**\", \"value\": \"\", \"encoding\": \"application/octet-stream\", \"time\": \"None\" }\n]\n",
  "cookies": "",
  "headers": {
...
  }
}