Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-28 10:46:33 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

New Crowdin translations - zh-CN (#26553)

Browse Source 
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
2026-03-05 14:00:49 +11:00
committed by GitHub
parent 102b64f604
commit 62d0620eff
471 changed files with 4073 additions and 5684 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/zh/middleware/zenoh.md
+17 -2
View File
@@ -1,6 +1,6 @@
# Zenoh (PX4 ROS 2 rmw_zenoh)
<Badge type="tip" text="main (planned for: PX4 v1.17)" /> <Badge type="warning" text="Experimental" />
<Badge type="tip" text="PX4 v1.17" /> <Badge type="warning" text="Experimental" />
:::warning
Experimental
@@ -49,6 +49,11 @@ ros2 run rmw_zenoh_cpp rmw_zenohd
For more information about the Zenoh Router see the [rmw_zenoh](https://github.com/ros2/rmw_zenoh?tab=readme-ov-file#start-the-zenoh-router) documentation.
:::note
From ROS 2 Jazzy onward, `rmw_zenoh` topic key expressions include the message type hash (RIHS01, as defined in REP-2016). This prevents interoperability with ROS 2 Humble and earlier.
For more information about key expressions, refer to the [rmw_zenoh design documentation](https://github.com/ros2/rmw_zenoh/blob/jazzy/docs/design.md#topic-and-service-name-mapping-to-zenoh-key-expressions).
:::
## PX4 Zenoh-Pico Node Setup
### PX4 Firmware
@@ -79,6 +84,12 @@ You can check if Zenoh is present at runtime by using QGroundControl to [find th
If present, the module is installed.
:::
:::warning
Interoperability with ROS 2 Humble and earlier requires setting `CONFIG_ZENOH_KEY_TYPE_HASH=n` to disable the
inclusion of the message type hash (RIHS01, as defined in REP-2016) in the Zenoh key expression.
Note that this will break compatibility with ROS 2 Jazzy and later.
:::
### Enable Zenoh on PX4 Startup
Set the [ZENOH_ENABLE](../advanced_config/parameter_reference.md#ZENOH_ENABLE) parameter to `1` to enable Zenoh on PX4 startup.
@@ -94,7 +105,7 @@ If you're using a different IP for the Zenoh daemon, run the following command (
zenoh config net client tcp/10.41.10.1:7447#iface=eth0
```
Note that for the simulation target with Zeroh (`px4_sitl_zenoh`) you won't need to make any changes because the default IP address of the Zenoh daemon is set to `localhost`.
Note that for the simulation target with Zenoh (`px4_sitl_zenoh`) you won't need to make any changes because the default IP address of the Zenoh daemon is set to `localhost`.
:::warning
Any changes to the network configuration require a PX4 system reboot to take effect.
@@ -199,3 +210,7 @@ Subscription count: 0
The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) works out of the box with Zenoh as a transport backend.
This means you can publish and subscribe to PX4 topics over Zenoh without changing your ROS 2 nodes or dealing with DDS configuration.
For setup details and supported message types, refer to the [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md).
:::info
The PX4 ROS 2 Interface Library is not compatible with ROS 2 Humble and earlier, as it requires the message type hash (RIHS01, as defined in REP-2016) to be included in the Zenoh key expression.
:::