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

Docker

A Docker-based development environment for working with Zenbedded without installing dependencies locally.

Usage

docker compose up -d
docker compose exec -it dev-env bash

Includes

The image is based on ros:jazzy-ros-base and adds:

  • ros-jazzy-ros2-control, ros-jazzy-ros2-controllers

  • rmw_zenoh_cpp (ROS 2 middleware)

  • Zephyr SDK 0.16.8 with ESP32 (xtensa-espressif_esp32_zephyr-elf, xtensa-espressif_esp32s3_zephyr-elf) and ARM toolchains

  • west and Zephyr Python dependencies

  • zenoh-pico (via west.yml manifest)

Environment variables set in the container:

  • ZEPHYR_BASE=/zephyr_ws/zephyr

  • ZEPHYR_SDK_INSTALL_DIR=/zephyr_ws/zephyr-sdk-0.16.8

  • RMW_IMPLEMENTATION=rmw_zenoh_cpp

Volume mounts

  • zenbedded_transport → ROS 2 workspace /ros2_ws/src/ and Zephyr workspace /zephyr_ws/

  • zenbedded_hardware_interface → ROS 2 workspace /ros2_ws/src/

  • zenbedded_rcl → Zephyr workspace /zephyr_ws/

  • demos/ → Zephyr workspace /zephyr_ws/

Networking uses host mode and the container runs privileged (for USB-based flashing).