F3 · Robotics & Embodied
Distributed ROS 2 + Zenoh (Part 2)
Overview
Extending L20's single-machine simulation, this guide deploys a ROS 2/Zenoh distributed system across an Arm server, a remote-control container and a Raspberry Pi, connecting nodes in router/client mode. The workflow validates remote RViz, ROS-graph discovery, `/scan` sensor rate and bidirectional talker/listener, and compares the isolation behavior of ROS namespaces, `ROS_DOMAIN_ID` and Zenoh namespaces. This cloud-to-edge baseline uses shared Arm64 ROS 2 packages to build a distributed robotics topology without cross-compilation, giving multi-robot deployment an observable integration starting point.
Scope of verification
- It is a distributed ROS 2/Zenoh reference workflow within one reachable network, validating discovery, sensor data and bidirectional messaging among a single Arm server, a remote-control container and a Raspberry Pi.
- Dependencies include a completed L20 environment, Arm64 ROS 2/Zenoh packages, a Raspberry Pi, matching router/client configuration, namespace settings and an interoperable network.
- Scope centers on a few nodes and a simulated robot; the second-edge-device collision/isolation experiment is optional, and it does not cover fleet scale, WAN latency, network recovery, encryption, long-run reliability or production security.
Canonical source: https://learn.arm.com/learning-paths/cross-platform/distributed-ros2-zenoh-lp2/
This page is a guided summary with boundary notes, not an official reproduction.
This page is a guided summary with boundary notes, not an official reproduction.