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4,297 symbols
14,283 edges
362 files
1,307 documented · 30%
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README
Hiroz
High-performance Interoperable Robotics on Zenoh
Built by the Zenoh team at ZettaScale
Overview
Hiroz is a Zenoh-native ROS 2 stack that:
- Provides a pure-Rust ROS 2 implementation built directly on Zenoh
- Preserves portability for RCL-C/CPP/Py-based applications
- Delivers optimized performance for Rust users
- Interoperates seamlessly with Zenoh RMW-based ROS 2
ROS 2 without ROS. Full compatibility. Zero ROS package dependencies.
Status
Hiroz is experimental software. It is tested with ROS 2 Jazzy, Humble, Kilted, and Lyrical. We make no guarantees with respect to other official distributions.
Documentation
Read the Book for comprehensive documentation including:
- Installation and build instructions
- Examples and tutorials
- API reference
- Feature flags and configuration
- Contributing guidelines
Local Development: mdbook serve book
License
Contributing
Contributions are welcome! Please see CONTRIBUTING.md for details.
Extension points exported contracts — how you extend this code
CdrSerializedSize (Interface)Size in bytes of the CDR-serialized form, given the current stream alignment position. [53 implementers]
crates/hiroz-cdr/src/traits.rs
SizeEstimation (Interface)
Accurate size estimation for ROS message serialization to SHM. This module provides the trait definition for size estim [12 …
crates/hiroz-msgs/src/size_estimation.rs
MessageTypeInfo (Interface)
Trait for ROS messages that provides message metadata This trait supports both compile-time (static) and runtime (dynami [12 …
crates/hiroz/src/ros_msg.rs
Message (Interface)
Message interface (compatible with hiroz.Message) [17 implementers]
crates/hiroz-go/testdata/add_two_ints_srv.go
IntoPyErr (Interface)
Trait for converting Rust errors to Python exceptions [3 implementers]
crates/hiroz-py/src/error.rs
Waitable (Interface)
(no doc) [4 implementers]
crates/rmw-zenoh-rs/src/traits.rs
DynKeyExprFormatter (Interface)
Object-safe companion to [`KeyExprFormatter`] for runtime-provided formats. Implement this trait to supply a custom wir [1 …
crates/hiroz-protocol/src/format/mod.rs
ResolvedMessageExt (Interface)
Extension trait for ResolvedMessage to get TypeDescription [1 implementers]
crates/hiroz-codegen/src/resolver.rs
Core symbols most depended-on inside this repo
clonecalled by 723
crates/hiroz/src/action/server.rs
build
called by 406
crates/hiroz/src/shm.rs
P
called by 352
crates/hiroz-codegen-go/generator.go
field
called by 341
crates/hiroz/src/dynamic/schema.rs
iter
called by 231
crates/hiroz/src/dynamic/message.rs
build
called by 221
crates/hiroz-py/src/node.rs
as_ref
called by 156
crates/rmw-zenoh-rs/src/type_support.rs
push
called by 132
crates/hiroz-cdr/src/buffer.rs
Shape
Languages
Rust80%
Go12%
Python7%
C++1%
TypeScript1%
C1%
Modules by API surface
crates/rmw-zenoh-rs/bindings.rs134 symbols
crates/rmw-zenoh-rs/src/bindings.rs89 symbols
crates/rmw-zenoh-rs/src/rmw.rs70 symbols
crates/hiroz/src/action/server.rs65 symbols
crates/hiroz/src/node.rs59 symbols
crates/hiroz/src/time.rs57 symbols
crates/hiroz/src/msg.rs54 symbols
crates/hiroz-go/hiroz/action.go52 symbols
crates/hiroz/src/pubsub.rs47 symbols
crates/hiroz/src/service.rs46 symbols
crates/hiroz-cdr/src/primitives.rs45 symbols
crates/hiroz-cdr/src/deserializer.rs45 symbols
For agents
$ claude mcp add hiroz \
-- python -m otcore.mcp_server <graph>