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zenoh: Add support for ROS2 Humble and earlier (#26619)

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* Add support for hash-less Zenoh topic key expressions

- Add kConfig option ZENOH_KEY_TYPE_HASH to toggle the inclusion
- Update topic and liveliness generators

* chore: Update Zenoh kConfig param description and help message

* docs(zenoh): Document Zenoh configuration for Humble

* docs: Clarify PX4 ROS2 Interface library compatibility
This commit is contained in:
Leonardo Cencetti
2026-03-04 20:00:58 +01:00
committed by GitHub
parent c5d22f5fea
commit de9698e7fa
4 changed files with 54 additions and 1 deletions
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docs/en/ros2/px4_ros2_interface_lib.md
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@@ -6,6 +6,10 @@
At the time of writing, parts of the PX4 ROS 2 Interface Library are experimental, and hence subject to change.
:::
:::info
When using `rmw_zenoh`, the PX4 ROS 2 Interface Library requires ROS 2 Jazzy or later, and is not compatible with ROS 2 Humble or earlier.
:::
The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2.
The library provides three high-level interfaces for developers: