feat(ros-z-dds): add ros-z-bridge-dds — native DDS↔Zenoh bridge

.github/workflows/ci.yml

@@ -106,7 +106,7 @@ jobs:
       - name: Install dependencies (macOS)
         if: runner.os == 'macOS'
         run: |
-          brew install nushell protobuf
+          brew install nushell protobuf || brew link nushell
           chmod +x scripts/test-pure-rust.nu
 
       - name: Install cargo-nextest (macOS)
@@ -308,7 +308,7 @@ jobs:
       - name: Install dependencies (macOS)
         if: runner.os == 'macOS'
         run: |
-          brew install nushell protobuf
+          brew install nushell protobuf || brew link nushell
           chmod +x scripts/test-pure-rust.nu
 
       # Common setup

.github/workflows/test.yml

@@ -116,3 +116,56 @@ jobs:
               --features ros-interop --release \
               -E 'test(dynamic_subscriber)'
           fi
+
+  ros2dds_bridge_test:
+    name: ros-z-bridge-ros2dds integration tests (Jazzy / CycloneDDS)
+    runs-on: ubuntu-latest
+    if: |
+      github.event_name == 'push' ||
+      github.event.pull_request.draft == false
+    container:
+      image: ros:jazzy-ros-base
+    steps:
+      - name: Cache apt packages
+        uses: actions/cache@v4
+        with:
+          path: /var/cache/apt/archives
+          key: apt-jazzy-bridge-v1-${{ hashFiles('.github/workflows/test.yml') }}
+
+      - name: Install system dependencies
+        run: apt-get update && apt-get install -y nodejs cmake clang mold protobuf-compiler
+
+      - name: Install ROS dependencies
+        run: |
+          apt-get install -y \
+            ros-jazzy-rmw-cyclonedds-cpp \
+            ros-jazzy-demo-nodes-cpp
+
+      - uses: actions/checkout@v4
+
+      - uses: actions-rust-lang/setup-rust-toolchain@v1
+
+      - name: Setup Rust cache
+        uses: Swatinem/rust-cache@v2
+        with:
+          shared-key: jazzy-bridge-interop
+
+      - name: Install cargo-nextest
+        uses: taiki-e/install-action@v2
+        with:
+          tool: cargo-nextest
+
+      - name: Build ros-z-bridge-ros2dds
+        run: |
+          RUSTFLAGS="-C linker=clang -C link-arg=-fuse-ld=mold" \
+          cargo build -p ros-z-bridge-dds --features jazzy --release -j4
+
+      - name: Run bridge integration tests
+        shell: bash
+        run: |
+          mkdir -p _tmp
+          source /opt/ros/jazzy/setup.bash
+          export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+          export RUST_LOG=info
+          cargo nextest run -p ros-z-tests --profile interop \
+            --features "dds-bridge-interop,jazzy" --release -j4

Cargo.toml

@@ -19,6 +19,8 @@ members = [
   "crates/ros-z-tests",
   "crates/ros-z-console",
   "crates/ros-z-bridge",
+  "crates/ros-z-dds",
+  "crates/ros-z-bridge-dds",
   "crates/ros-z/examples/protobuf_demo",
 ]
 default-members = ["crates/ros-z", "crates/ros-z-codegen"]

crates/ros-z-bridge-dds/Cargo.toml

@@ -0,0 +1,29 @@
+[package]
+name = "ros-z-bridge-dds"
+version.workspace = true
+edition.workspace = true
+description = "Bridge between DDS-based ROS 2 nodes and Zenoh via ros-z"
+
+[[bin]]
+name = "ros-z-bridge-dds"
+path = "src/main.rs"
+
+[dependencies]
+ros-z = { path = "../ros-z" }
+ros-z-dds = { path = "../ros-z-dds" }
+ros-z-protocol = { path = "../ros-z-protocol", features = [
+  "rmw-zenoh",
+  "ros2dds",
+] }
+
+anyhow = { workspace = true }
+clap = { workspace = true, features = ["derive"] }
+tokio = { workspace = true, features = ["rt-multi-thread", "macros"] }
+tracing = { workspace = true }
+tracing-subscriber = { version = "0.3", features = ["env-filter"] }
+
+[features]
+default = ["jazzy"]
+jazzy = ["ros-z/jazzy"]
+humble = ["ros-z/humble"]
+kilted = ["ros-z/kilted"]

crates/ros-z-bridge-dds/README.md

@@ -0,0 +1,11 @@
+<!--
+DO NOT EXPAND THIS README
+Documentation source: book/ - Published: https://zettascalelabs.github.io/ros-z/
+Keep this file minimal. Point readers to the book.
+-->
+
+# ros-z-bridge-dds
+
+Standalone binary that bridges DDS-based ROS 2 nodes to a Zenoh/ros-z network.
+
+**[Full Documentation](https://zettascalelabs.github.io/ros-z/user-guide/dds-bridge.html)**