Skip to content

Zenoh LP update: build + run Zenoh + ROS in one container, add pre-built Docker image #2143

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Jul 16, 2025
Merged

Zenoh LP update: build + run Zenoh + ROS in one container, add pre-built Docker image #2143

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
2c578b0
Update docker build script to build + run Zenoh + ROS in one container
odincodeshen Jul 16, 2025
3f30805
Add pre-built Docker image
odincodeshen Jul 16, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
71 changes: 58 additions & 13 deletions content/learning-paths/cross-platform/zenoh-multinode-ros2/3_zenoh-multinode.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,18 +6,17 @@ weight: 4
layout: learningpathall
---

## Deploying Zenoh on Multiple Raspberry Pi Devices Using Docker
## Deploying Zenoh on Multiple Raspberry Pi Devices

After building Zenoh and its core examples, your next step is to deploy them across multiple Arm-based devices.

In this section, you’ll use Raspberry Pi boards to simulate a scalable, distributed environment, but the same workflow applies to any Arm Linux system, including Arm cloud instances.
Once you’ve successfully installed Zenoh on an Arm Cortex-A or Neoverse platform in the previous session, you can either transfer the compiled binaries from `~/zenoh/target/release/` to your Raspberry Pi devices, or use Docker to quickly deploy them across multiple RPi nodes.

You’ll learn how to use Docker to deploy the environment on physical devices.
In this session, you’ll use Raspberry Pi boards to simulate a scalable, distributed environment—but the same workflow applies to any Arm Linux system, including Arm cloud instances and Arm Virtual Hardware.

This setup lets you simulate real-world, cross-node communication, making it ideal for validating Zenoh's performance in robotics and industrial IoT use cases.

### Install Docker

### Install Docker on Raspberry Pi
To simplify this process and ensure consistency, you can use Docker to containerize your Zenoh and ROS 2 environment.
This lets you quickly replicate the same runtime on any device without needing to rebuild from source.

Expand All @@ -30,16 +29,54 @@ curl -fsSL get.docker.com -o get-docker.sh && sh get-docker.sh
sudo usermod -aG docker $USER ; newgrp docker
```

### Create a ROS 2 + DDS Docker Image
### Create a ROS2 + Zenoh Docker Image

To ensure compatibility with ROS-related tools, create a `Dockerfile` based on `ros:galactic `, and use the official Rust installation method to build Zenoh, as shown below.

In a working directory, create a `Dockerfile` with the following content to create the ROS 2 / DDS docker image.
This Dockerfile uses a multi-stage build process based on the ros:galactic environment.
In the first stage, it installs Rust and compiles the Zenoh binaries directly from source.
In the second stage, it installs essential ROS 2 demo tools and copies the Zenoh executables into the final runtime image.

```bash
FROM ros:galactic
RUN apt-get update
RUN apt-get install -y ros-galactic-demo-nodes-cpp ros-galactic-rmw-cyclonedds-cpp ros-galactic-turtlesim
# Stage 1: Build Zenoh using ROS base with Rust toolchain
FROM ros:galactic AS builder

RUN apt-get update && apt-get install -y \
curl \
git \
build-essential \
pkg-config \
clang \
libssl-dev \
cmake

RUN curl -sSf https://sh.rustup.rs -o rustup-init.sh && \
chmod +x rustup-init.sh && \
./rustup-init.sh -y --no-modify-path && \
rm rustup-init.sh

ENV PATH="/root/.cargo/bin:${PATH}"

WORKDIR /root
RUN git clone https://github.com/eclipse-zenoh/zenoh.git
WORKDIR /root/zenoh
RUN cargo build --release --all-targets -j $(nproc)

# Stage 2: Runtime with ROS + Zenoh binary only
FROM ros:galactic AS runtime

RUN apt-get update && apt-get install -y \
ros-galactic-demo-nodes-cpp \
ros-galactic-rmw-cyclonedds-cpp \
ros-galactic-turtlesim

COPY --from=builder /root/zenoh/target/release /root/zenoh/target/release

ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
CMD bash

WORKDIR /root/zenoh/target/release

CMD ["/bin/bash"]
```

Under the directory where the above Dockerfile exists, run the following command to generate the docker image.
Expand All @@ -55,7 +92,15 @@ docker images | grep zenoh-node
```

```output
zenoh-node latest b7a9c27cf8a8 About a minute ago 962MB
REPOSITORY TAG IMAGE ID CREATED SIZE
zenoh-node latest 2300ea78d043 30 minutes ago 3.73GB
```

Alternatively, if you’d like to skip the build process, a pre-built Docker image is available on Docker Hub.
You can pull it directly using:

```bash
docker pull odinlmshen/zenoh-node
```

### Transfer the Docker image to the other Raspberry Pi
Expand All @@ -81,7 +126,7 @@ You can also push the image to Docker Hub or GitHub Container Registry and pull

### Run the Docker Image

Once the image is successfully loaded on second device, you can run the container.
Once the image is successfully loaded on the second device, you can run the container to start the Zenoh environment.

```bash
docker run -it --network=host zenoh-node
Expand Down