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Jun 13, 2025
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Update design documentation (backport #648) #654

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22 changes: 20 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -220,7 +220,12 @@ Here are two ways to configure on the remote side:
export ZENOH_CONFIG_OVERRIDE='mode="client";connect/endpoints=["tcp/192.168.1.1:7447"]'
```

### Logging
## Security

Security is available in `rmw_zenoh` by means of access control, authentication and encryption.
A `jazzy` port of the `zenoh_security_tools` package which contains a script to generate Zenoh configs with security configured along with documentation on its usage is [underway](https://github.com/ros2/rmw_zenoh/pull/661).

## Logging

The core of Zenoh is implemented in Rust and uses a logging library that can be configured via a `RUST_LOG` environment variable.
This variable can be configured independently for each Node and the Zenoh router.
Expand All @@ -232,7 +237,20 @@ For instance:

For more information on the `RUST_LOG` syntax, see https://docs.rs/env_logger/latest/env_logger/#enabling-logging.

### Known Issues
## On interoperability with other Zenoh APIs

The current scope of `rmw_zenoh` is limited to ROS 2 nodes on Tier-1 supported platforms and relying on a ROS Client Library (rcl).

While it is possible for an application using any Zenoh API to interoperate with `rmw_zenoh`, supporting such use cases is beyond the scope of this repository's goals. If you aim to develop such a Zenoh application, you must follow the same design than `rmw_zenoh` for key expressions, data serialization format, attachments, and liveliness tokens.
See [docs/design.md](docs/design.md) for more details.

## On interoperability with [eclipse-zenoh/zenoh-plugin-ros2dds](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds) and `zenoh-bridge-ros2dds`

`zenoh-plugin-ros2dds` allows to bridge DDS-based ROS 2 communications (mainly using CycloneDDS) to Zenoh.

`rmw_zenoh` utilizes Zenoh differently, particularly in terms of key expressions. Consequently, `rmw_zenoh` cannot interoperate with `zenoh-plugin-ros2dds`. This use case is beyond the scope of `rmw_zenoh`.

## Known Issues

### Router crashes on IPv4-only systems

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