Add zenoh backend

Cargo.toml

@@ -3,7 +3,7 @@ members = ["booster_sdk", "booster_sdk_py", "examples/rust/*"]
 resolver = "2"
 
 [workspace.package]
-version = "0.1.3"
+version = "0.1.4"
 edition = "2024"
 authors = ["Team whIRLwind"]
 license = "MIT OR Apache-2.0"
@@ -27,6 +27,11 @@ booster_sdk = { path = "booster_sdk" }
 tokio = { version = "1.42", features = ["full"] }
 futures = "0.3"
 rustdds = "0.13.1"
+byteorder = "1.5"
+zenoh = { version = "1.9", default-features = false, features = [
+    "transport_tcp",
+    "transport_udp",
+] }
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
 thiserror = "1.0"

README.md

@@ -62,6 +62,33 @@ SDK 1.7 additions include:
 - audio device enumeration and Bluetooth scan/connect/disconnect/forget APIs;
 - hand-eye calibration start, status, result, and apply APIs.
 
+## Zenoh Transport
+
+Clients speak native DDS by default. With the `zenoh` cargo feature (always enabled in the
+Python wheel) they can instead talk Zenoh, publishing the same CDR payloads on the keys
+[`zenoh-plugin-dds`](https://github.com/eclipse-zenoh/zenoh-plugin-dds) bridges DDS topics to
+(`rt/LocoApiTopicReq`, `rt/LocoApiTopicResp`, ...). This works against the DDS bridge on a robot
+and against simulators that serve those keys directly.
+
+Set `BOOSTER_SDK_ZENOH_ENDPOINT` to switch every client created with default options:
+
+```bash
+BOOSTER_SDK_ZENOH_ENDPOINT=tcp/127.0.0.1:7447 python examples/python/locomotion.py
+```
+
+Or pick the transport explicitly in Rust:
+
+```rust
+use booster_sdk::client::BoosterClient;
+use booster_sdk::dds::{RpcClientOptions, ZenohConfig};
+
+let options = RpcClientOptions::default().with_zenoh(ZenohConfig::client("tcp/127.0.0.1:7447"));
+let client = BoosterClient::with_options(options)?;
+```
+
+Opening a Zenoh session blocks, so inside Tokio create clients on the multi-threaded runtime.
+Raw DDS readers (`DdsNode::subscribe_reader`) are only available on the DDS transport.
+
 ## Contributing
 
 This SDK is in active development. Contributions are welcome! Please open issues or pull requests for bug fixes, features, or documentation improvements.

booster_sdk/Cargo.toml

@@ -18,6 +18,12 @@ tracing = { workspace = true }
 uuid = { workspace = true }
 typed-builder = { workspace = true }
 rustdds = { workspace = true }
+byteorder = { workspace = true, optional = true }
+zenoh = { workspace = true, optional = true }
+
+[features]
+# Talk to the robot over Zenoh, on the keys `zenoh-plugin-dds` bridges DDS topics to.
+zenoh = ["dep:zenoh", "dep:byteorder"]
 
 [dev-dependencies]
 tracing-subscriber = { workspace = true }

booster_sdk/src/dds/mod.rs

@@ -1,14 +1,20 @@
-//! DDS communication layer primitives for the Booster Robotics SDK.
+//! Communication layer primitives for the Booster Robotics SDK.
+//!
+//! Clients talk native DDS by default, or Zenoh with the `zenoh` feature (see [`TransportConfig`]).
 
 pub mod messages;
 pub mod node;
 pub mod operation;
 pub mod qos;
 pub mod rpc;
 pub mod topics;
+pub mod transport;
+#[cfg(feature = "zenoh")]
+mod zenoh_transport;
 
 pub use messages::*;
 pub use node::*;
 pub use operation::*;
 pub use rpc::*;
 pub use topics::*;
+pub use transport::*;