Zenoh Publisher

Node ID: zenohPublisher · Role: Sink · Realtime config: no

Description

Publishes pipeline data through Zenoh; the companion zenoh-bridge-ros2dds process exposes the keys as native ROS 2 DDS topics. Avoids the RustDDS/Fast-DDS interop quirks of the direct ROS2 Publisher.

Inputs / Outputs

Inputs: FusedPose, FusedVehiclePoseV2, GlobalFusedPose
Outputs: (none)

Config aliases

ZenohSink, zenohSink, zenohPublisher

Properties

The following fields are exposed in the node’s Properties panel in the UI. Types map to UI widgets (e.g. string → text input, number → numeric, boolean → toggle, select → dropdown, json → JSON editor).

Key	Label	Type	Default	Description / Notes
`key`	Zenoh Key (PoseStamped)	`string`	`fusionhub/pose`	Zenoh key expression for the PoseStamped publication. The bridge maps `fusionhub/pose` to ROS 2 topic `/fusionhub/pose`. Use only forward slashes; no leading slash. Set empty to disable.
`bridgeEndpoint`	Bridge Endpoint	`string`	`tcp/[::1]:7447`	Zenoh locator of the zenoh-bridge-ros2dds process. Default is IPv6 loopback (matches the bundled bridge’s default listen socket). Override to `tcp/<ip>:7447` if the bridge runs on another host, or set empty to use peer mode + multicast scouting (only do this if you know why; scouting over machines with many NICs causes connect-fail noise).
`autoSpawnBridge`	Auto-spawn Bridge Process	`boolean`	`true`	When on (default), fusionhub spawns the bundled zenoh-bridge-ros2dds process automatically when this sink starts. Turn off if you’re running the bridge yourself.
`bridgeRosDomainId`	Bridge ROS_DOMAIN_ID	`number`	`0`	ROS_DOMAIN_ID env var passed to the spawned bridge. Must match the value used by your ROS 2 nodes.
`bridgeCyclonedssUri`	Bridge CycloneDDS URI (advanced)	`string`	`""`	Optional. Path or `file://` URI to a hand-written CycloneDDS XML config. Overrides the structured fields below. Empty = use the structured fields (or auto-detect if those are also empty).
`bridgeStaticPeers`	Bridge Static Peers (comma-separated IPs)	`string`	`127.0.0.1`	Comma-separated IPs of remote DDS participants the bridge should unicast SPDP to (bypasses multicast discovery). Defaults to `127.0.0.1` for the common case where fusionhub and ROS 2 run on the same machine. Override with the LAN IP of the ROS 2 box when running cross-machine, e.g. `192.168.140.78`.
`bridgeNetworkInterface`	Bridge Network Interface (IP)	`string`	`127.0.0.1`	IP of the network interface CycloneDDS should bind to. Defaults to `127.0.0.1` (loopback) for same-machine ROS 2 setups. Override with the LAN IP (e.g. `192.168.140.99`) for cross-machine. Use this to skip Hyper-V / VPN / virtual adapters.
`frameId`	Frame ID	`string`	`map`	—
`maxRateHz`	Max Publish Rate (Hz)	`number`	`200`	Cap the outgoing rate to this many messages per second. 0 = unlimited.
`stampWithWallClock`	Stamp With Wall Clock	`boolean`	`true`	Set header.stamp to current system time at publish-time instead of the data’s own timestamp. On by default for replay; turn off for live feeds where original capture time matters downstream.
`invertYaw`	Invert Yaw	`boolean`	`true`	Negate FusedVehiclePoseV2 yaw before publishing. Use when downstream expects the opposite rotation convention.
`publishTf`	Publish TF	`boolean`	`true`	Also broadcast each pose as a tf2_msgs/TFMessage on the standard ROS 2 /tf topic. Useful for rviz2 and most ROS 2 consumers.
`tfKey`	Zenoh Key (TF)	`string`	`tf`	Zenoh key expression for the /tf publication. Default `tf` ↔ ROS 2 topic `/tf`. Rarely changed.
`gnssKey`	Zenoh Key (NavSatFix)	`string`	`fusionhub/gnss`	Zenoh key expression for sensor_msgs/NavSatFix publications, used when GlobalFusedPose data arrives at the sink. Set empty to disable.
`tfParentFrame`	TF Parent Frame	`string`	`map`	—
`tfChildFrame`	TF Child Frame	`string`	`oxts_link`	—
`tfPositionOffset`	TF Position Offset	`vector3`	`{"x":0.0,"y":0.0,"z":0.0}`	—
`tfRotationOffset`	TF Rotation Offset	`quaternion`	`{"w":0.5,"x":0.0,"y":0.0,"z":0.5}`	Right-multiplied into the transform rotation: output = base * offset. Output is renormalised, so non-unit values are fine. Default (w=0.5, z=0.5) applies a 90° yaw to align our body frame with the typical ROS REP-103 convention.

Example node definition

A full node definition in config.json looks like the block below. Paste it under the sinks key of your config, keyed by the node’s instance name (any identifier; it doesn’t have to match the node ID).

{
  "sinks": {
    "zenohPublisher": {
      "inputEndpoints": [
        "inproc://fusedPose_data",
        "inproc://fusedVehiclePoseV2_data",
        "inproc://globalFusedPose_data"
      ],
      "inputDataFilter": [
        "FusedPose",
        "FusedVehiclePoseV2",
        "GlobalFusedPose"
      ],
      "settings": {
        "autoSpawnBridge": true,
        "bridgeCyclonedssUri": "",
        "bridgeEndpoint": "tcp/[::1]:7447",
        "bridgeNetworkInterface": "127.0.0.1",
        "bridgeRosDomainId": 0,
        "bridgeStaticPeers": "127.0.0.1",
        "frameId": "map",
        "gnssKey": "fusionhub/gnss",
        "invertYaw": true,
        "key": "fusionhub/pose",
        "maxRateHz": 200,
        "publishTf": true,
        "stampWithWallClock": true,
        "tfChildFrame": "oxts_link",
        "tfKey": "tf",
        "tfParentFrame": "map",
        "tfPositionOffset": {
          "x": 0.0,
          "y": 0.0,
          "z": 0.0
        },
        "tfRotationOffset": {
          "w": 0.5,
          "x": 0.0,
          "y": 0.0,
          "z": 0.5
        }
      }
    }
  }
}

Field reference

Field	Purpose
`inputEndpoints`	List of upstream endpoints this node connects to (`outEndpoint` / `dataEndpoint` values from upstream nodes).
`inputDataFilter`	Optional whitelist of data types. Messages whose type isn’t in the list are dropped at the subscriber.
`settings`	All user-configurable fields — see the Properties table above.

Connections can also be declared at the top-level connections array when settings.explicitConnections is true, as an alternative to filling inputEndpoints on each node.

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