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Installation

This guide will walk you through the installation process of the Zenoh Multi-Protocol Bridge system.

Quick Installation

The fastest way to get started is using Docker Compose:

# Clone the repository
git clone https://github.com/harunkurtdev/zenoh-multi-bridge.git
cd zenoh-multi-bridge

# Start all services
docker-compose up -d

# Verify all containers are running
docker-compose ps

That's it! All services should now be running.

Step-by-Step Installation

1. Clone the Repository

First, clone the project repository from GitHub:

git clone https://github.com/harunkurtdev/zenoh-multi-bridge.git
cd zenoh-multi-bridge

2. Review Configuration Files

Before starting the services, you may want to review the configuration files:

# View the main docker-compose configuration
cat docker-compose.yaml

# View MQTT bridge configuration
cat zenoh-mqtt-bridge/config.json5

# View ROS2 bridge configuration
cat zenoh-ros2dds-bridge/config.json5

Configuration details are explained in the Configuration section.

3. Build Custom Images

Some services use custom Docker images that need to be built:

# Build all custom images
docker-compose build

# Or build specific services
docker-compose build ros2-humble
docker-compose build zenoh-ros2dds-bridge
docker-compose build node-red
docker-compose build zenoh-subscriber

4. Start the Services

Start all services in detached mode:

docker-compose up -d

This command will:

  • Pull required Docker images (if not already present)
  • Build custom images (if needed)
  • Create a dedicated network (zenoh-mqtt-net)
  • Start all services in the background

5. Verify Installation

Check that all services are running:

docker-compose ps

You should see all services in the "Up" state:

NAME                    IMAGE                              STATUS
mosquitto               eclipse-mosquitto:latest           Up
zenoh-router            eclipse/zenoh:latest               Up
ros2-humble             zenoh-multi-bridge-ros2-humble     Up
zenoh-ros2dds-bridge    zenoh-multi-bridge-zenoh-ros2...   Up
ros2-humble-pub         zenoh-multi-bridge-ros2-humble     Up
node-red                zenoh-multi-bridge-node-red        Up
zenoh-mqtt-bridge       eclipse/zenoh-bridge-mqtt:latest   Up
mqtt-publisher          eclipse-mosquitto:latest           Up
mqtt-subscriber         eclipse-mosquitto:latest           Up
zenoh-subscriber        zenoh-multi-bridge-zenoh-sub...    Up

6. Check Service Logs

Monitor the logs to ensure everything is working correctly:

# View all logs
docker-compose logs -f

# View specific service logs
docker-compose logs -f zenoh-router
docker-compose logs -f zenoh-mqtt-bridge
docker-compose logs -f zenoh-ros2dds-bridge
docker-compose logs -f mqtt-publisher

Press Ctrl+C to stop following logs.

Accessing Web Interfaces

Once all services are running, you can access the web interfaces:

Service URL Description
Node-RED http://localhost:1880 Visual flow editor and dashboard
Zenoh REST API http://localhost:8000 Zenoh router REST interface
MQTT Bridge API http://localhost:8001 MQTT bridge REST API
ROS2 Bridge API http://localhost:8002 ROS2 bridge REST API
Foxglove Studio http://localhost:8765 ROS2 web visualization

Testing the Installation

Test MQTT Communication

Test MQTT message publishing and subscribing:

# Subscribe to MQTT topic (in one terminal)
docker exec -it mqtt-subscriber mosquitto_sub -h mosquitto -t 'test/topic' -v

# Publish a message (in another terminal)
docker exec -it mosquitto mosquitto_pub -h mosquitto -t 'test/topic' -m 'Hello MQTT!'

Test Zenoh Communication

If you have Python and Zenoh installed on your host:

# Terminal 1: Subscribe to Zenoh
python3 sub.py

# Terminal 2: Publish to Zenoh
python3 pub.py

Test Multi-Protocol Bridge

Publish an MQTT message and verify it reaches Zenoh:

# Terminal 1: Watch Zenoh subscriber logs
docker-compose logs -f zenoh-subscriber

# Terminal 2: Publish MQTT message to bridge
mosquitto_pub -h localhost -p 1884 -t 'sensor/test' -m '{"value": 42}'

You should see the message appear in the Zenoh subscriber logs.

Troubleshooting Installation

Containers Not Starting

If containers fail to start, check the logs:

docker-compose logs [service-name]

Common issues:

  1. Port conflicts: Ensure required ports are not in use
  2. Insufficient resources: Docker needs adequate CPU and memory
  3. Permission issues: Ensure your user is in the docker group

Port Already in Use

If you get a port conflict error:

# Find which process is using the port
lsof -i :PORT_NUMBER

# Stop the conflicting process or modify docker-compose.yaml
# to use different host ports

Docker Permission Denied

If you get permission errors:

# Add your user to the docker group
sudo usermod -aG docker $USER

# Log out and back in, or run:
newgrp docker

Services Not Connecting

If services can't connect to each other:

  1. Verify the network is created: 

    docker network ls | grep zenoh-mqtt-net

  2. Check container DNS resolution: 

    docker exec zenoh-mqtt-bridge ping -c 2 zenoh-router

Updating the Installation

To update to the latest version:

# Stop all services
docker-compose down

# Pull latest changes
git pull origin main

# Rebuild images
docker-compose build

# Start services
docker-compose up -d

Uninstalling

To completely remove the installation:

# Stop and remove all containers, networks, and volumes
docker-compose down -v

# Remove Docker images
docker-compose down --rmi all

# Remove the repository
cd ..
rm -rf zenoh-multi-bridge

Next Steps