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Zenoh Bridge

Version 0.1.1.

The extensions marketplace also lists a Zenoh Bridge entry badged AGENT PLUGIN — that's plugin_zenoh_bridge, the device-side plugin this extension pushes to devices via Fleet Manager, not this desktop extension itself.

What it does​

Zenoh Bridge configures which ROS 2 topics a device forwards over Zenoh, and at what rate, then can open those live topics in the Visualizer.

When you'd use it​

Watch a device's ROS 2 topics live from your desktop instead of opening a shell, or throttle which topics — and how fast — a bandwidth-constrained device forwards.

Enable or install​

Like other extensions, it can be enabled, disabled, or uninstalled from the Extensions view. It contributes the Zenoh: Open command and a sidebar entry titled Zenoh. A device needs plugin_zenoh_bridge installed on it first, deployed like any other device plugin from Fleet Manager — a device without it shows a "no plugin" badge here.

Key screens​

  • Devices (left rail) — one row per mesh peer: status dot, name, IP, and a "no plugin" badge where plugin_zenoh_bridge isn't installed; a device/online count and Refresh sit above it.
  • Device panel — the plugin's installed version and state (or a prompt to deploy it from Fleet first), a Forward topics over zenoh checkbox, a topics table (topic name, an optional max Hz, remove), an add-topic field, and a collapsible Show advanced section (zenoh port, ws port, backend: host or docker).
  • Actions — Push to device sends the configuration to the device (disabled until something's changed, invalid, or already sending); Open in visualizer sends the device's live topics to the Visualizer panel (disabled with unpushed changes, or if forwarding isn't enabled).

Common tasks​

  • Forward a topic — select the device, enable Forward topics over zenoh, add a topic path (must start with /), optionally cap its rate, Push to device.
  • Watch it live — once pushed and enabled, Open in visualizer.
  • Adjust ports or backend — Show advanced, then edit zenoh port / ws port / backend.

Permissions requested​

commands.register, commands.execute, authentication.session.

Known limits​

  • Enabling forwarding requires at least one topic. A topic must be an absolute ROS name (start with /) using only letters, digits, and _/~.-; the zenoh and ws ports must be distinct, valid port numbers.
  • There's no way to read a device's actual running configuration back — the panel shows only the last configuration this desktop itself pushed, which can drift from reality if the device was reconfigured another way.
  • Open in visualizer needs the Visualizer extension installed and active; otherwise it reports that plainly rather than doing nothing silently.

Visualizer — opens the live topics this extension forwards.