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Enable Zenoh router to make the post-install example work #5858

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Merged
merged 6 commits into from
Sep 18, 2025
Merged

Enable Zenoh router to make the post-install example work #5858

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f496eef
Fix doc RHEL - cbc repo do not exist in RHEL
luisarizmendi Sep 12, 2025
e6286eb
DOC: Enable Zenoh router in example
luisarizmendi Sep 16, 2025
1791ff0
DOC: Enable Zenoh router in example
luisarizmendi Sep 16, 2025
3af1086
Update source/Installation/RHEL-Install-RPMs.rst
luisarizmendi Sep 17, 2025
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Update source/Installation/RHEL-Install-RPMs.rst
luisarizmendi Sep 17, 2025
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Update source/Installation/RHEL-Install-RPMs.rst
luisarizmendi Sep 17, 2025
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13 changes: 11 additions & 2 deletions source/Installation/RHEL-Install-RPMs.rst
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Expand Up @@ -125,14 +125,23 @@ Try some examples

If you installed ``ros-{DISTRO}-desktop`` above you can try some examples.

In one terminal, source the setup file and then run a C++ ``talker``\ :
First, if you use `Zenoh` as the RMW implementation (default), you will require a router for node discovery and communication

In one terminal start the Zenoh router daemon

.. code-block:: console

$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run rmw_zenoh_cpp rmw_zenohd

In another terminal, source the setup file and then run a C++ ``talker``\ :

.. code-block:: console

$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run demo_nodes_cpp talker

In another terminal source the setup file and then run a Python ``listener``\ :
In a third terminal source the setup file and then run a Python ``listener``\ :

.. code-block:: console

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