# ROS 2 + microcontrollers via Eclipse zenoh

**URL:** <https://discourse.openrobotics.org/t/ros-2-microcontrollers-via-eclipse-zenoh/23037>\
**Category:** ROS General\
**Tags:** ros2, embedded, esp32, zenoh\
**Created:** [November 9, 2021, 6:49pm UTC](https://discourse.openrobotics.org/t/ros-2-microcontrollers-via-eclipse-zenoh/23037 "2021-11-09T18:49:23Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![JEnoch](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/jenoch/32/9997_2.png) [@JEnoch](https://discourse.openrobotics.org/u/JEnoch)\
**Post date:** [November 9, 2021, 6:49pm UTC](https://discourse.openrobotics.org/t/ros-2-microcontrollers-via-eclipse-zenoh/23037/1 "2021-11-09T18:49:23Z")

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Dear ROSers,

We just posted a new [blog](https://zenoh.io/blog/2021-11-09-ros2-zenoh-pico/) explaining how a [zenoh-pico](https://github.com/eclipse-zenoh/zenoh-pico) application on a ESP32 microcontroller with a gyroscope can pub/sub to ROS 2 via the [zenoh bridge for DDS](https://github.com/eclipse-zenoh/zenoh-plugin-dds).

[Eclipse zenoh](https://zenoh.io/) is a pub/sub/store/query/compute middleware implementing a [very efficient](https://zenoh.io/blog/2021-07-13-zenoh-performance-async/) protocol and that supports [p2p and/or routed communications](https://zenoh.io/docs/getting-started/key-concepts) for LANs, Edge or Cloud deployments.  
Here is a list of previous blogs related to zenoh/ROS integration:

- [Minimizing discovery traffic in ROS 2](https://zenoh.io/blog/2021-03-23-discovery/) thanks to the zenoh bridge for DDS
- [Integrating ROS 2 with zenoh](https://zenoh.io/blog/2021-04-28-ros2-integration/)
- [zenoh usage in Indy Autonomous Challenge](https://zenoh.io/blog/2021-09-28-iac-experiences-from-the-trenches/)

Comments and suggestions are welcome! 🙂  
You can also contact us on [Gitter](https://gitter.im/atolab/zenoh).

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**Author:** ![Osilva](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/osilva/32/11321_2.png) [@Osilva](https://discourse.openrobotics.org/u/Osilva)\
**Post date:** [November 9, 2021, 6:53pm UTC](https://discourse.openrobotics.org/t/ros-2-microcontrollers-via-eclipse-zenoh/23037/2 "2021-11-09T18:53:07Z")

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Really cool. Thank you for sharing.

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**Author:** ![system](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/b/6/b607ee3cc8e908b1b613bd74a683d749fea635a1.svg) [@system](https://discourse.openrobotics.org/u/system)\
**Post date:** [December 9, 2021, 6:53pm UTC](https://discourse.openrobotics.org/t/ros-2-microcontrollers-via-eclipse-zenoh/23037/3 "2021-12-09T18:53:23Z")

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