From 913da24254c7e5e34812d33fa7e74f7dae56688b Mon Sep 17 00:00:00 2001 From: Takumi Okamoto Date: Wed, 22 Oct 2025 08:29:58 +0900 Subject: [PATCH] Fixing misleading Zenoh usage in try-some-example #5954 (#5957) * Revert "Enable Zenoh router to make the post-install example work (#5858)" This reverts commit b684b72d15e27f99bfda7b03ba84f3437fcfce37. * Revert "Enable zenohd to make the post-install example work for Ubuntu Debian. (#5860)" This reverts commit 86d8c1ae7c5b92fd40a827cacfd6610827ac1760. * Added link to RMW implementations page. (cherry picked from commit ecc26c2cb3cc600f420c4618e13c85bae5ab0f8a) --- source/Installation/RHEL-Install-RPMs.rst | 15 ++++----------- source/Installation/Ubuntu-Install-Debs.rst | 15 ++++----------- 2 files changed, 8 insertions(+), 22 deletions(-) diff --git a/source/Installation/RHEL-Install-RPMs.rst b/source/Installation/RHEL-Install-RPMs.rst index 0aea71e6fb..5dcad958bc 100644 --- a/source/Installation/RHEL-Install-RPMs.rst +++ b/source/Installation/RHEL-Install-RPMs.rst @@ -124,23 +124,14 @@ Try some examples If you installed ``ros-{DISTRO}-desktop`` above you can try some examples. -First, if you use ``Zenoh`` as the RMW implementation, you will require a router for node discovery and communication. - -In one terminal, start the Zenoh router daemon: - -.. code-block:: console - - $ source /opt/ros/{DISTRO}/setup.bash - $ ros2 run rmw_zenoh_cpp rmw_zenohd - -In another terminal, source the setup file and then run a C++ ``talker``\ : +In one terminal, source the setup file and then run a C++ ``talker``\ : .. code-block:: console $ source /opt/ros/{DISTRO}/setup.bash $ ros2 run demo_nodes_cpp talker -In a third terminal source the setup file and then run a Python ``listener``\ : +In another terminal source the setup file and then run a Python ``listener``\ : .. code-block:: console @@ -151,6 +142,8 @@ You should see the ``talker`` saying that it's ``Publishing`` messages and the ` This verifies both the C++ and Python APIs are working properly. Hooray! +If you want to use other RMW implementations, you can check the :doc:`guide <./RMW-Implementations>`. + Next steps ---------- diff --git a/source/Installation/Ubuntu-Install-Debs.rst b/source/Installation/Ubuntu-Install-Debs.rst index 5bf3c7a6d4..41a1e263c3 100644 --- a/source/Installation/Ubuntu-Install-Debs.rst +++ b/source/Installation/Ubuntu-Install-Debs.rst @@ -95,23 +95,14 @@ Try some examples If you installed ``ros-{DISTRO}-desktop`` above you can try some examples. -First, if you use ``Zenoh`` as the RMW implementation, you will require a router for node discovery and communication. - -In one terminal, start the Zenoh router daemon: - -.. code-block:: console - - $ source /opt/ros/{DISTRO}/setup.bash - $ ros2 run rmw_zenoh_cpp rmw_zenohd - -In another terminal, source the setup file and then run a C++ ``talker``\ : +In one terminal, source the setup file and then run a C++ ``talker``\ : .. code-block:: console $ source /opt/ros/{DISTRO}/setup.bash $ ros2 run demo_nodes_cpp talker -In a third terminal source the setup file and then run a Python ``listener``\ : +In another terminal source the setup file and then run a Python ``listener``\ : .. code-block:: console @@ -122,6 +113,8 @@ You should see the ``talker`` saying that it's ``Publishing`` messages and the ` This verifies both the C++ and Python APIs are working properly. Hooray! +If you want to use other RMW implementations, you can check the :doc:`guide <./RMW-Implementations>`. + Next steps ----------