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Fixing misleading Zenoh usage in try-some-example #5954 (backport #5957) #5976

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Oct 21, 2025
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Fixing misleading Zenoh usage in try-some-example #5954 (backport #5957) #5976

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15 changes: 4 additions & 11 deletions source/Installation/RHEL-Install-RPMs.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
----------

Expand Down
15 changes: 4 additions & 11 deletions source/Installation/Ubuntu-Install-Debs.rst
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
----------

Expand Down