Zenoh対応（Jazzy待ち）

.github/workflows/custom_dict.json

@@ -120,6 +120,8 @@
     "CHECKVERSION",
     "BLAUE",
     "Hackentrick",
-    "3rdparty"
+    "3rdparty",
+    "zenoh",
+    "zenohd"
   ]
 }

crane_bringup/launch/crane.launch.py

@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, GroupAction, Shutdown, ExecuteProcess
 from launch.substitutions import LaunchConfiguration
@@ -20,6 +21,8 @@
 
 default_exit_behavior = Shutdown()
 
+os.environ["RMW_IMPLEMENTATION"] = "rmw_zenoh_cpp"
+
 
 def generate_launch_description():
     return LaunchDescription(
@@ -63,6 +66,12 @@ def generate_launch_description():
                 "speak", default_value="true", description="音声ノードの起動フラグ"
             ),
             DeclareLaunchArgument("record", default_value="false", description="rosbag記録フラグ"),
+            Node(
+                package="rmw_zenoh_cpp",
+                executable="rmw_zenohd",
+                output="screen",
+                on_exit=default_exit_behavior,
+            ),
             Node(
                 condition=UnlessCondition(LaunchConfiguration("simple_ai")),
                 package="crane_session_controller",

dependency_jazzy.repos

@@ -7,3 +7,7 @@ repositories:
         type: git
         url: https://github.com/HansRobo/speak_ros_voicevox_plugin.git
         version: main
+    rmw_zenoh:
+        type: git
+        url: https://github.com/ros2/rmw_zenoh.git
+        version: rolling