Switch to hiroz for ros2 backend name

.github/workflows/ros2.yml

@@ -35,11 +35,11 @@ jobs:
             zenoh: false
           - distro: kilted
             container: carter12s/roslibrust-ci-kilted:rust_1_94
-            features: ros2_zenoh_test,rosbridge_ros2_test,ros2_test
+            features: hiroz_test,rosbridge_ros2_test,ros2_test
             zenoh: true
           - distro: rolling
             container: carter12s/roslibrust-ci-rolling:rust_1_94
-            features: ros2_zenoh_test,rosbridge_ros2_test,ros2_test
+            features: rosbridge_ros2_test,ros2_test
             zenoh: true
 
     name: ${{ matrix.distro }}

Cargo.toml

@@ -18,7 +18,7 @@ members = [
     "roslibrust_zenoh",
     "roslibrust",
     "roslibrust_rosapi",
-    "roslibrust_ros2",
+    "roslibrust_hiroz",
 ]
 
 [workspace.dependencies]

README.md

@@ -30,7 +30,7 @@ async fn relay<T: TopicProvider>(ros: T) -> roslibrust::Result<()> {
 
 #[tokio::main]
 async fn main() -> roslibrust::Result<()> {
-    // Experimental support in roslibrust_ros2, not yet released on crates.io
+    // Experimental support in roslibrust_hiroz, not yet released on crates.io
     // Relay messages over a native ROS2 connection using Zenoh
     // #[cfg(feature = "ros2")]
     // {

book/src/introduction.md

@@ -91,7 +91,7 @@ RosLibRust provides several implementations of the `Ros` trait:
 - [roslibrust_ros1](https://docs.rs/roslibrust_ros1/latest/roslibrust_ros1/) - Implements the TCPROS protocol that was the backbone of ROS1
 - [roslibrust_zenoh](https://docs.rs/roslibrust_zenoh/latest/roslibrust_zenoh/) - Implements a variant of ROS1 communication used by [zenoh-ros1-bridge](https://github.com/eclipse-zenoh/zenoh-plugin-ros1)
 - [roslibrust_rosbridge](https://docs.rs/roslibrust_rosbridge/latest/roslibrust_rosbridge/) - Implements the [rosbridge_suite](https://github.com/RobotWebTools/rosbridge_suite) websocket protocol
-- COMING SOON [roslibrust_ros2](https://docs.rs/roslibrust_ros2/latest/roslibrust_ros2/) - Implements the Zenoh communication used by [rmw_zenoh](https://github.com/ros2/rmw_zenoh) in ROS2 from Kilted onwards
+- COMING SOON `roslibrust_hiroz` - Implements the Zenoh communication used by [rmw_zenoh](https://github.com/ros2/rmw_zenoh) in ROS2 from Kilted onwards
 - [roslibrust_mock](https://docs.rs/roslibrust_mock/latest/roslibrust_mock/) - Implements a mock ROS perfect for testing
 
 Typically we don't depend on these crates directly, but instead use them by enabling their corresponding features on `roslibrust`.
@@ -107,7 +107,7 @@ The full list of features is:
 - `zenoh` - Enables the [roslibrust_zenoh](https://docs.rs/roslibrust_zenoh/latest/roslibrust_zenoh/) backend
 - `rosbridge` - Enables the [roslibrust_rosbridge](https://docs.rs/roslibrust_rosbridge/latest/roslibrust_rosbridge/) backend
 - `mock` - Enables the [roslibrust_mock](https://docs.rs/roslibrust_mock/latest/roslibrust_mock/) backend
-- `ros2` - COMING SOON Enables the [roslibrust_ros2](https://docs.rs/roslibrust_ros2/latest/roslibrust_ros2/) backend
+- `hiroz` - COMING SOON Enables the `roslibrust_hiroz` backend
 - `codegen` - Provides access to the [roslibrust_codegen](https://docs.rs/roslibrust_codegen/latest/roslibrust_codegen/) crate for generating ROS message types in build.rs.
 - `macro` - Provides access to the [roslibrust_codegen_macro](https://docs.rs/roslibrust_codegen_macro/latest/roslibrust_codegen_macro/) crate for generating ROS message types using a proc-macro.
 - `all` - Enables all of the above features.
@@ -141,4 +141,3 @@ The second approach is brittle, slow, and often a bottle neck for test times.
 
 RosLibRust provides a mock implementation of ROS for testing that allows deterministic "time traveling" tests.
 See [extended getting started guide](extended_getting_started.md#writing-tests-for-our-node) for an example.
-

docker/kilted_compose.yaml

@@ -10,5 +10,5 @@ services:
     volumes:
       # Mounting in the repo for internal development, and devcontainer access
       - ../:/roslibrust
-      # Mount in sibling ros-z repo so we can also test it within the docker image
-      - ../../ros-z:/ros-z
+      # Mount a sibling hiroz repo so it can also be tested within the docker image
+      - ../../hiroz:/hiroz

docker/rolling_compose.yaml

@@ -10,6 +10,5 @@ services:
     volumes:
       # Mounting in the repo for internal development, and devcontainer access
       - ../:/roslibrust
-      # Mount in sibling ros-z repo so we can also test it within the docker image
-      - ../../ros-z:/ros-z
-
+      # Mount a sibling hiroz repo so it can also be tested within the docker image
+      - ../../hiroz:/hiroz

roslibrust/Cargo.toml

@@ -16,6 +16,7 @@ roslibrust_ros1 = { path = "../roslibrust_ros1", version = "0.21", optional = tr
 roslibrust_rosbridge = { path = "../roslibrust_rosbridge", version = "0.21", optional = true }
 roslibrust_zenoh = { path = "../roslibrust_zenoh", version = "0.21", optional = true }
 roslibrust_mock = { path = "../roslibrust_mock", version = "0.21", optional = true }
+roslibrust_hiroz = { path = "../roslibrust_hiroz", optional = true }
 roslibrust_codegen = { path = "../roslibrust_codegen", version = "0.21", optional = true }
 roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro", version = "0.21", optional = true }
 
@@ -42,7 +43,7 @@ ntest = "0.9"
 # default feature is pure traits only with no implementations
 default = []
 # `all` enables all "useful" features to end users, other features are for testing purposes
-all = ["codegen", "macro", "ros1", "rosbridge", "zenoh", "mock"]
+all = ["codegen", "macro", "ros1", "rosbridge", "zenoh", "mock", "hiroz"]
 # Provides a ros1 xmlrpc / TCPROS client
 ros1 = ["roslibrust_ros1"]
 # Provides a backend using the rosbridge websocket protocol
@@ -51,6 +52,8 @@ rosbridge = ["roslibrust_rosbridge"]
 zenoh = ["roslibrust_zenoh"]
 # Provides a mock backend useful for writing tests around nodes
 mock = ["roslibrust_mock"]
+# Provides a native ROS 2 backend built on hiroz and rmw_zenoh.
+hiroz = ["roslibrust_hiroz"]
 # Provides a macro for generating types from ROS messages
 codegen = ["roslibrust_codegen"]
 # Provides macros for generating types from ROS messages

roslibrust/src/lib.rs

@@ -20,6 +20,10 @@ pub use roslibrust_zenoh as zenoh;
 #[cfg(feature = "mock")]
 pub use roslibrust_mock as mock;
 
+// If the hiroz feature is enabled, export the native ROS 2 backend under hiroz.
+#[cfg(feature = "hiroz")]
+pub use roslibrust_hiroz as hiroz;
+
 // If the codegen feature is enabled, export the roslibrust_codegen crate under codegen
 #[cfg(feature = "codegen")]
 pub use roslibrust_codegen as codegen;

roslibrust_ros2/Cargo.toml → roslibrust_hiroz/Cargo.toml

@@ -1,5 +1,5 @@
 [package]
-name = "roslibrust_ros2"
+name = "roslibrust_hiroz"
 version = "0.1.0"
 edition = "2021"
 publish = false
@@ -12,17 +12,16 @@ env_logger = "0.11"
 cdr = "0.2"
 roslibrust_common = { path = "../roslibrust_common", version = "0.21" }
 anyhow = "1.0"
-# Main as of May 16th 2026
-ros-z = { git = "https://github.com/ZettaScaleLabs/ros-z.git", rev = "9bb6305" }
+hiroz = { version = "0.1.0", default-features = false, features = ["kilted", "rmw-zenoh"] }
 log = "0.4"
 # Used for cancellation token
 tokio-util = "0.7"
-# Needed for now because of ros-z type incompatibility
+# Needed for the serde wrapper around roslibrust message types.
 serde = { workspace = true }
 
 [dev-dependencies]
 roslibrust_test = { path = "../roslibrust_test" }
 
 [features]
 # Used to enable tests that rely on a locally running ros2 rmw_zenohd
-ros2_zenoh_test = []
+hiroz_test = []

roslibrust_ros2/README.md → roslibrust_hiroz/README.md

@@ -1,3 +1,3 @@
-# roslibrust_ros2
+# roslibrust_hiroz
 
 Experimental ROS2 backend for roslibrust via zenoh.