cu-ros2-bridge

Bidirectional Copper bridge for ROS 2 messaging over Zenoh transport.

Config

Bridge-level config:

• domain_id: ROS 2 domain id (default 0).
• namespace: ROS 2 namespace (default copper).
• node: ROS 2 node name (default node).
• zenoh_config_file: path to a Zenoh JSON5 config file (optional).
• zenoh_config_json: inline Zenoh JSON5 config (optional).

Per-channel config (bridges[].channels):

• route: ROS 2 topic path used by that channel.

Rx-only options:

• queue_mode: "fifo" (default) First In First Out mode. Delivers samples in order, one per cycle. "ring" creates a buffer and drops oldest sample when full.
• ring_size: depth of the ring buffer when queue_mode is "ring" (default 1).

Example:

bridges: [
  (
    id: "ros2",
    type: "bridges::DemoRos2Bridge",
    config: {
      "domain_id": 0,
      "namespace": "copper",
      "node": "bridge_node",
    },
    channels: [
      Tx(id: "outgoing", route: "/output"),
      // fifo: ordered delivery, one sample per cycle (default)
      Rx(id: "incoming", route: "/input"),
      // ring: always receive the freshest sample
      Rx(id: "sensor",   route: "/sensor", config: {"queue_mode": "ring"}),
    ],
  ),
],

Payload codec registry

The bridge uses a payload codec registry keyed by Copper payload type. It ships with:

• bool, i8, i16, i32, i64, u8, u16, u32, u64, f32, f64, String

To add your own payloads, implement cu_ros2_payloads::RosBridgeAdapter for the payload type and register it once at startup:

cu_ros2_bridge::register_ros2_payload::<MyPayload>();