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4,297 symbols 14,283 edges 362 files ⚖ Apache-2.0 1,307 documented · 30% ● updated 6d agov0.2.0 · 2026-08-22★ 26336 open issues

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⨍ Functions 3,252◇ Types & classes 1,045

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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.

Hiroz Architecture

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

View 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

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Core symbols most depended-on inside this repo

↓ 32 filesMessage

Message is implemented by all generated message types

crates/hiroz-go/hiroz/types.go

↓ 20 filesNode

Node represents a ROS 2 node

crates/hiroz-go/hiroz/node.go

↓ 17 filesHirozError

HirozError represents a structured error from the hiroz FFI layer

crates/hiroz-go/hiroz/error.go

↓ 16 filesContext

Context represents a hiroz context

crates/hiroz-go/hiroz/context.go

↓ 15 filesContextBuilder

ContextBuilder builds a Context

crates/hiroz-go/hiroz/context.go

↓ 13 filesBool

crates/hiroz-msgs/python/hiroz_msgs_py/types/std_msgs.py

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Shape

Function 1,839

Method 1,413

Class 850

Struct 71

Enum 69

Interface 44

TypeAlias 8

FuncType 3

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>

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