hex_util_zenoh is a lightweight Python wrapper around Eclipse Zenoh, providing a simple pub/sub communication node API. It is part of the HEXFELLOW ecosystem and offers an intuitive interface for Zenoh-based inter-process and inter-machine communication.

• Simplified Zenoh API: Wraps the Eclipse Zenoh Python bindings behind a minimal, ROS-like node interface (create_pub, create_sub, pub).
• Easy publisher/subscriber management: Automatically tracks and reuses publishers per topic. Subscribers automatically unwrap ZBytes payloads into plain bytes for user callbacks.
• Thread-aware: Designed to be used safely across threads with clear start/close lifecycle.

• Robotics engineers who need lightweight, decentralised pub/sub communication.
• Developers using Eclipse Zenoh who want a simpler, more Pythonic API.
• Anyone building distributed systems in the HEXFELLOW ecosystem.

hex_util_zenoh/
├── hex_util_zenoh/
│   ├── __init__.py            # Public exports (HexZenohNode)
│   └── hex_zenoh_node.py      # HexZenohNode class
├── examples/
│   ├── talker.py              # TalkerNode example (ROS 2 talker style)
│   └── listener.py            # ListenerNode example (ROS 2 listener style)
├── docs/
│   └── api.md                 # API reference
├── pyproject.toml              # Project metadata & build configuration
└── venv.sh                     # Virtual environment setup script

• Python ≥ 3.8
• OS: Linux (Zenoh runs on all major platforms; tested on Linux)
• Dependencies:
  • eclipse-zenoh ≥ 1.0.0

pip install hex_util_zenoh

We use uv to manage the Python environment. Please install it first.

1. Clone and install in editable mode:

git clone https://github.com/hexfellow/hex_util_zenoh.git
cd hex_util_zenoh
./venv.sh

2. Activate before using:

source .venv/bin/activate

from hex_util_zenoh import HexZenohNode

node = HexZenohNode()
node.start()

# Create a publisher and subscriber
node.create_pub("chatter")

def on_message(data: bytes):
    print(f"Received: {data.decode()}")

node.create_sub("chatter", on_message)

# Publish a message
node.pub("chatter", b"Hello, Zenoh!")

# Clean up
node.close()

Open two terminals. In the first:

python examples/talker.py

In the second:

python examples/listener.py

• API Reference — Detailed documentation of the HexZenohNode class.

Apache License 2.0. See LICENSE.