Set rmw_zenoh as the Default ROS 2 Middleware#373
Conversation
sunghowoo
commented
Jun 25, 2026
sunghowoo
commented
- Updated dockerfile to use zenoh-cpp
- Updated SRDF for OMY-F3M
Signed-off-by: Sungho Woo <wsh@robotis.com>
Signed-off-by: Sungho Woo <wsh@robotis.com>
![gemini-code-assist[bot]](https://avatars.githubusercontent.com/in/956858?s=60&v=4){kind=small}
There was a problem hiding this comment.
Code Review
This pull request updates the OpenMANIPULATOR packages to version 5.0.0, configures the Docker environment to use Zenoh-cpp, adds several bash aliases, and updates the SRDF configuration for the OMX-F manipulator to disable collisions between link6 and link7. The feedback recommends defining the ROS_DOMAIN_ID and RMW_IMPLEMENTATION environment variables using the ENV instruction in the Dockerfile instead of appending them to .bashrc, ensuring they are correctly set for non-interactive shells.
Important
The consumer version of Gemini Code Assist on GitHub is being sunset. Starting June 18, 2026, new organization installations will be blocked, and all code review activity will officially cease on July 17, 2026.
For more details on the timeline and next steps, please review the Help Documentation.
- Implemented functions to fetch the current version from the meta package and the latest version from GitHub releases. - Added notifications for available updates when starting or entering the container. - Included a notice regarding the default RMW implementation since version 5.0.0. Signed-off-by: Sungho Woo <wsh@robotis.com>
3 participants
