Request to Assist as Contributor/Maintainer

[oursland]

Solution to issue cannot be found in the documentation.

• I checked the documentation.

Issue

I'd like to assist in getting the ros-jazzy RoboStack distribution built and operational.

I have been using ros-humble but newer packages are no longer building with the older LTS distribution. Of note, I am aiming to build and test rmw_zenoh to address substantial shortcomings in the DDS implementations on macOS.

Installed packages

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Environment info

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[Tobias-Fischer]

Hi @oursland - sorry I’ve been flat out with paper/grant submissions and teaching. We’re always very happy for contributions! I see you opened a PR in #4 - let’s see how it goes. I typically recommend building locally first; unfortunately sometimes CI has some additional issues though but I can try to take a look if that happens.

[oursland]

Hi @Tobias-Fischer ! I understand that struggle; I'm in the midst of it myself (minus teaching).

I have been fairly active with my progress on the RoboStack/Lobby channel on Gitter. At this point I can build most of ros-jazzy-desktop with the exception of the Python Qt bindings and their dependencies (rqt being a major one) and a couple other items. I'll get to working on the Qt bindings issue very soon as my current project depends upon rqt being functional.

The CI has some issues that will require that the rattler-build branch of vinca being updated to address. I have submitted RoboStack/vinca#60 and RoboStack/vinca#58 to address these issues. Once merged I'll look at correcting the CI.

[Tobias-Fischer]

Sounds great, thank you! The qt bindings have always been a pain ..

I’ve merged the two vinca PRs.

Tobi

[oursland]

This PR should fix CI for osx and osx_arm64: #5

This PR should then permit building of ros-jazzy-desktop for osx and osx_arm64: #4

[Tobias-Fischer]

Hi @oursland - did you ever try zenoh? Would love to hear how well it works. I've got an interest in removing our custom RMW for ROS2WASM (https://www.arxiv.org/abs/2409.09941) as zenoh should support WebAssembly.

/cc @nmarticorena @IsabelParedes

[oursland]

Thus far I have only performed some basic ROS 2 tests to confirm functionality with the RoboStack ros-jazzy, which it passed. In that regard, it worked quite well.

Next week I intend on conducting initial experiments with mesh networking in a Kubernetes environment for an upcoming proposal. This is something that DDS does not do well as most Kubernetes networking layers do not support UDP multicast or do so poorly. rmw_zenoh should be able to get around this limitation handily through multiple means including the use of a Zenoh Router for discovery. I will provide more feedback after I have conducted these experiments.

[traversaro]

By the way, I think we never build zenoh_cpp_vendor . FYI, this is a package that we may want to devendor using https://github.com/conda-forge/zenoh-cpp-feedstock .

[traversaro]

By the way, I think we never build zenoh_cpp_vendor . FYI, this is a package that we may want to devendor using https://github.com/conda-forge/zenoh-cpp-feedstock .

Related humble PR: RoboStack/ros-humble#253 , we can do something similar also for jazzy.

[Tobias-Fischer]

Let's close here - there have been quite a few nice community contributions which is awesome, and always very welcome :)!