Booster Zenoh Bridge by julianschuler · Pull Request #2177 · HULKs/hulk

julianschuler · 2026-01-10T15:41:26Z

Why? What?

This PR adds a bridge to make the booster ROS interfaces available via zenoh.

Blocked on #2154.

ToDo / Known Issues

Has to be started manually

Ideas for Next Iterations (Not This PR)

Orchestration: Automatic deployment of the binary

How to Test

./pepsi build crates/zenoh_bridge
rsync target/aarch64-unknown-linux-gnu/debug/zenoh_bridge <booster-ip>:
# On the robot
./zenoh_bridge

Then, listen to the available zenoh topics, e.g. using zenoh-cli.

alexschmander

Initial review. Will continue when #2154 is merged.

oleflb · 2026-02-07T09:42:39Z

Initial review. Will continue when #2154 is merged.

@alexschmander #2154 is merged, you can review this

alexschmander · 2026-02-08T18:18:44Z

@schmidma you could review this again now. I should probably not review it myself, since I worked on the the last couple commits...

`/booster_camera_bridge/StereoNetNode/rectified_image` -> `booster/rectified_image` `/booster_camera_bridge/image_left_raw` -> `booster/image_left_raw` `/booster_camera_bridge/image_left_raw/camera_info` -> `booster/image_left_raw/camera_info`

- `/booster_camera_bridge/StereoNetNode/rectified_right_image` -> `booster/rectified_right_image` - `/booster_camera_bridge/StereoNetNode/stereonet_depth` -> `booster/stereonet_depth` - `/booster_camera_bridge/StereoNetNode/stereonet_visual` -> `booster/stereonet_visual` - `/booster_camera_bridge/image_right_raw` -> `booster/image_right_raw` - `/booster_camera_bridge/image_right_raw/camera_info` -> `booster/image_left_raw/camera_info`

knoellle

Looks fine for now.
We're already using this as if it was merged already and doing work on top of it.
Since this doesn't change existing code and only adds something new, I think we should merge it and then iterate on main.

.

schmidma · 2026-02-22T20:04:13Z

I think my review already was very kind. My comments mostly only addressed issues, I think are actual bugs. Are these issues addressed already? Then I'd be happy to have a final look on it

alexschmander · 2026-02-24T12:56:32Z

@schmidma I addressed the comments you made. Since @julianschuler does not have the time currently to continue working on this, during the last dev meeting we decided we wanted to forgo stylistic changes in favor of getting this PR finally merged. If the remaining comments are not critical bugs, perhaps we could simply merge this?

knoellle · 2026-02-28T15:03:51Z

@schmidma alex addressed your comments but you haven't said anything since.
We decided to merge this now to make working on dependent PRs less painful.

knoellle

LGTM

github-project-automation Bot moved this to Request for Review in Development Jan 10, 2026

github-project-automation Bot added this to Development Jan 10, 2026

julianschuler moved this from Request for Review to In Progress in Development Jan 10, 2026

alexschmander previously requested changes Jan 13, 2026

View reviewed changes

Comment thread crates/zenoh_bridge/src/main.rs

Comment thread crates/zenoh_bridge/src/main.rs Outdated

alexschmander mentioned this pull request Jan 13, 2026

hulk-booster #2182

Merged

4 tasks

alexschmander added the Booster label Jan 20, 2026

alexschmander added this to the Booster Hardware 1 milestone Jan 20, 2026

alexschmander force-pushed the booster-zenoh-bridge branch from 17a872e to 706d150 Compare January 20, 2026 17:06

alexschmander moved this from In Progress to Request for Review in Development Jan 20, 2026

pejotejo assigned schmidma Jan 21, 2026

julianschuler force-pushed the booster-zenoh-bridge branch from 4ed509f to 7febaa5 Compare January 29, 2026 19:45

julianschuler mentioned this pull request Jan 29, 2026

High level interface #2212

Closed

alexschmander force-pushed the booster-zenoh-bridge branch from 7febaa5 to 6fc95bc Compare February 8, 2026 11:02

alexschmander enabled auto-merge February 8, 2026 11:27

schmidma reviewed Feb 12, 2026

View reviewed changes

julianschuler and others added 13 commits February 18, 2026 16:15

Forward LowState via zenoh bridge

a0000cd

Restructure code to forward multiple ROS topics

ba8106e

Forward button events

907e836

Forward LowCommand from Zenoh to ROS

f03a887

Use extension trait to refactor forwarding code

0023ba8

RosNode: namespacing

5e3d94e

Image topics

da87a4a

`/booster_camera_bridge/StereoNetNode/rectified_image` -> `booster/rectified_image` `/booster_camera_bridge/image_left_raw` -> `booster/image_left_raw` `/booster_camera_bridge/image_left_raw/camera_info` -> `booster/image_left_raw/camera_info`

Remove unused dependencies

95e651e

Refactor code for better readability

c64c6aa

Add proper error handling

9cee3cc

Fixed length motor states

7a16cb7

V1.5 new image topics

8c0a319

julianschuler and others added 4 commits February 18, 2026 16:15

Use correct quality of service

59ad778

Set RTPS protocol version to 2.3

5589699

Update LowState to V1.5 firmware

5fe3ad0

Use old booster_camera_bridge topics

aefe5a4

alexschmander force-pushed the booster-zenoh-bridge branch from 6fc95bc to aefe5a4 Compare February 18, 2026 15:17

alexschmander added 2 commits February 18, 2026 17:13

Pin native-tls to 0.2.16

1541d25

Match joint_ctrl topic name

7b2b4e3

knoellle previously approved these changes Feb 22, 2026

View reviewed changes

alexschmander added 3 commits February 22, 2026 13:53

Update publishing QOS

a26416e

Remove stereonet depth camera info

967f426

Update booster low level interface types

7b84bc5

alexschmander dismissed knoellle’s stale review via 7b84bc5 February 22, 2026 13:11

Remove all image topics

63b2521

alexschmander mentioned this pull request Feb 24, 2026

Use image ros2dds bridge image topics #2219

Merged

Remove unnecessary static bounds

6fbeda0

knoellle approved these changes Feb 28, 2026

View reviewed changes

alexschmander added this pull request to the merge queue Feb 28, 2026

Merged via the queue into HULKs:main with commit b1f1f79 Feb 28, 2026
22 checks passed

alexschmander deleted the booster-zenoh-bridge branch February 28, 2026 15:08

github-project-automation Bot moved this from Request for Review to Done in Development Feb 28, 2026

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Booster Zenoh Bridge#2177

Booster Zenoh Bridge#2177
alexschmander merged 24 commits intoHULKs:mainfrom
julianschuler:booster-zenoh-bridge

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julianschuler commented Jan 10, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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ToDo / Known Issues

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How to Test

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julianschuler commented Jan 10, 2026 •

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