Zenoh connector and ROS 2 topics through rmw_zenoh (design 053, native backend)

.cargo/audit.toml

@@ -28,5 +28,23 @@ ignore = [
     "RUSTSEC-2026-0098", # rustls-webpki: URI name constraints
     "RUSTSEC-2026-0099", # rustls-webpki: name constraints vs wildcard names
     "RUSTSEC-2026-0104", # rustls-webpki: panic in CRL parsing
-    "RUSTSEC-2025-0134", # rustls-pemfile unmaintained (transitive via rumqttc)
+    "RUSTSEC-2025-0134", # rustls-pemfile unmaintained (transitive via rumqttc and zenoh-link-commons)
+
+    # lz4_flex 0.10.0, a required dependency of zenoh-transport 1.10.1 (the
+    # latest zenoh). zenoh pins `lz4_flex = "0.10.0"`; the fixed versions are
+    # 0.11.6+ and 0.12.1+, out of semver range, so no in-range upgrade or
+    # `[patch]` exists.
+    #
+    # Not reachable through aimdb-zenoh-connector. The advisory is about
+    # decompression; zenoh-transport decompresses only in
+    # `WBatch::decompress`, behind `#[cfg(feature = "transport_compression")]`.
+    # The connector depends on zenoh without default features and never enables
+    # compression; `make test-embedded` asserts that. Its other lz4_flex calls
+    # only size buffers (`get_maximum_output_size`).
+    #
+    # Tracked upstream: eclipse-zenoh/zenoh#2589, bump in #2499. Drop this when
+    # a zenoh release takes it.
+    "RUSTSEC-2026-0041", # lz4_flex: uninitialized memory in decompression
+    "RUSTSEC-2024-0436", # paste unmaintained (via zenoh-keyexpr/token-cell)
+    "RUSTSEC-2024-0449", # unsafe-libyaml unmaintained (via serde_yaml from zenoh-config; the connector builds Config in code, never from YAML)
 ]

.github/workflows/ci.yml

@@ -162,6 +162,27 @@ jobs:
         cargo +nightly miri test -p aimdb-embassy-adapter \
           --no-default-features --features "alloc,embassy-sync,embassy-time"
 
+  # ros2:// against real ROS 2 distributions: rmw_zenohd and the ros2 CLI
+  ros2-interop:
+    name: ROS 2 interop (${{ matrix.distro }})
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [jazzy, lyrical]
+    steps:
+    - uses: actions/checkout@v7
+      with:
+        submodules: recursive
+
+    - name: Install Rust
+      uses: actions-rust-lang/setup-rust-toolchain@v2
+      with:
+        rustflags: ""
+
+    - name: Interop with ROS 2 ${{ matrix.distro }}
+      run: make ros2-interop DISTRO=${{ matrix.distro }}
+
   # Comprehensive validation using Makefile
   comprehensive-check:
     name: Comprehensive Development Check

.github/workflows/security.yml

@@ -55,3 +55,7 @@ jobs:
 
     - name: Run cargo-deny
       run: cargo deny check
+
+    # `cargo deny check` sees default features only, which leave `zenoh` out.
+    - name: Run cargo-deny on the Zenoh connector's std graph
+      run: cargo deny --features "std,transport-tls,transport-quic,transport-ws,auth-usrpwd" --manifest-path aimdb-zenoh-connector/Cargo.toml check

CHANGELOG.md

@@ -11,9 +11,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 > - [aimdb-codegen/CHANGELOG.md](aimdb-codegen/CHANGELOG.md)
 > - [aimdb-data-contracts/CHANGELOG.md](aimdb-data-contracts/CHANGELOG.md)
 > - [aimdb-derive/CHANGELOG.md](aimdb-derive/CHANGELOG.md)
+> - [aimdb-cdr/CHANGELOG.md](aimdb-cdr/CHANGELOG.md)
 > - [aimdb-tokio-adapter/CHANGELOG.md](aimdb-tokio-adapter/CHANGELOG.md)
 > - [aimdb-embassy-adapter/CHANGELOG.md](aimdb-embassy-adapter/CHANGELOG.md)
 > - [aimdb-mqtt-connector/CHANGELOG.md](aimdb-mqtt-connector/CHANGELOG.md)
+> - [aimdb-zenoh-connector/CHANGELOG.md](aimdb-zenoh-connector/CHANGELOG.md)
 > - [aimdb-knx-connector/CHANGELOG.md](aimdb-knx-connector/CHANGELOG.md)
 > - [aimdb-websocket-connector/CHANGELOG.md](aimdb-websocket-connector/CHANGELOG.md)
 > - [aimdb-uds-connector/CHANGELOG.md](aimdb-uds-connector/CHANGELOG.md)
@@ -29,6 +31,25 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Added — Zenoh connector and ROS 2 topics
+
+- **AimDB records as ROS 2 topics, with no ROS install on the AimDB side.**
+  `Ros2Connector` speaks rmw_zenoh's conventions (data keys, liveliness
+  tokens, attachments, CDR), so `ros2 node list`, `ros2 topic info -v`,
+  `ros2 topic echo` and `ros2 topic pub` see AimDB as a ROS node. A struct
+  becomes a ROS message with `#[derive(RosMessage)]`.
+  ([aimdb-zenoh-connector](aimdb-zenoh-connector/CHANGELOG.md),
+  [aimdb-data-contracts](aimdb-data-contracts/CHANGELOG.md),
+  [aimdb-derive](aimdb-derive/CHANGELOG.md))
+- **`zenoh://` links** with Zenoh key expressions, captures and keys, and a
+  gateway that bridges devices on plain Zenoh to ROS 2 on one router
+  connection. ([aimdb-zenoh-connector](aimdb-zenoh-connector/CHANGELOG.md))
+- **`aimdb-cdr`**: `no_std` serde for OMG CDR, the ROS 2 wire format.
+  ([aimdb-cdr](aimdb-cdr/CHANGELOG.md))
+- **Connectors learn each link's record type and wire format**:
+  `RouteInfo::type_id`, `InboundDispatch::routes()` and the reserved
+  `aimdb.wire_format` link key. ([aimdb-core](aimdb-core/CHANGELOG.md))
+
 ### Added — wildcard inbound links
 
 - **One inbound link can feed many topics into one record.**