You're reading the documentation for a development version. For the latest released version, please have a look at Kilted.

Architecture

The integration provides two architecture variants.

No-CDR architecture

No-CDR architecture — uses zenbedded_transport, zenbedded_hardware_interface, and zenbedded_rcl with zero-copy packed binary over Zenoh

No intermediate serialization. zenbedded_transport defines the wire format, zenbedded_hardware_interface runs on the host, zenbedded_rcl runs on the MCU — all sharing the same packed struct layout.

CDR architecture

CDR architecture — uses topic_based_hardware_interface and zenbedded_transport with CDR serialization over Zenoh

Uses standard CDR serialization. topic_based_hardware_interface on the host communicates with zenbedded_transport on the MCU over Zenoh topics.

Package responsibilities

zenbedded_hardware_interface [stable]

A ros2_control SystemInterface that connects to remote MCUs over Zenoh. It reads sensor state from a Zenoh subscriber and writes joint commands to a Zenoh publisher. Configuration (endpoint, topics, interface schema) is done via ROS 2 parameters. Uses realtime_tools::RealtimeBuffer for lock-free state access.

zenbedded_transport

A Zephyr module providing the shared wire format between the MCU and the ROS 2 host. It implements MicroCDR-style JointState and JointCommand serialization for Tier 1, and includes the schema-coupled payload generator for Tier 2.

zenbedded_rcl [WIP]

An embedded client library for Zephyr RTOS that provides a high-level, ROS-like API for hardware components running on the MCU. The ZenbeddedClient (double-buffered state/command buffers with ABA-prevention versioning, Zenoh publish/subscribe, optional control thread) is implemented and ready for use. A HardwareComponent base class (lifecycle-managed sensor/actuator) and ComponentManager are planned but not yet implemented. Communicates directly with the host over Zenoh without any intermediate agent.