ROS-Z: A Rust/Zenoh-native stack, fully ROS 2-compliant
UB2.147 | Day 1 | 17:00 - 17:25 | Speakers: Julien Enoch, Yuyuan Yuan
Abstract
ROS 2 was designed to be independent of its underlying communication middleware — a powerful architectural feature, but one that introduces complexity and overhead.
While working on rmw_zenoh, we kept wondering: What if we streamlined the ROS 2 layers and built a Rust-native stack from Zenoh up to the RCL API? Could it improve performance? Would it be easier to extend? And could we still support existing RCL-C/C++/Python packages through C bindings?
This led us to develop ROS-Z, a Rust/Zenoh-native RCL stack, fully interoperable with ROS 2 via rmw_zenoh. In this talk, we’ll explore our design choices, share performance insights, and highlight the some of the unique features we’ve added to push innovation even further.
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Speakers
Julien has extensive experience in distributed systems for industry, aerospace, and robotics. He has worked on the architecture and development of various middleware technologies, including Zenoh, DDS and CORBA. Julien currently works as a Solution Architect at ZettaScale. With strong experience as a Rust developer, he actively contributes to the Eclipse Zenoh open-source project and the rmw_zenoh package for ROS 2.
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