// the find
eclipse-zenoh/zenoh-plugin-dds
A zenoh plug-in that allows to transparently route DDS data. This plugin can be used by DDS applications to leverage zenoh for geographical routing or for better scaling discovery. For ROS2 robotic applications, use https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds
A Zenoh plugin and standalone bridge that routes DDS pub/sub traffic over a Zenoh network. Primarily useful for connecting distributed DDS systems across networks that DDS's UDP multicast can't reach — industrial robotics, edge-to-cloud data pipelines, or bridging isolated DDS domains. The Eclipse project behind it is real and active.
The 'forward discovery' mode is the standout feature: instead of each bridge independently discovering and mirroring local DDS entities, discovery metadata itself flows over Zenoh, so remote nodes can see the full ROS graph rather than just the data. The admin space via REST API gives you a live view of discovered entities and active routes without any separate tooling. Dual deployment model (plugin library vs. standalone executable) means you can drop it into an existing Zenoh router or run it independently. The optional Iceoryx shared memory path via CycloneDDS is a legitimate performance win for same-host scenarios.
The README explicitly tells ROS 2 users to go use the other plugin instead, which means this one is effectively in maintenance mode for the most common use case — that's a real adoption concern. Building it requires CMake, LLVM, Clang, and the Rust toolchain to be version-matched with zenohd, and the plugin ABI warning about SIGSEV crashes on version mismatch is not a scare tactic. Docker support is Linux-only due to DDS's UDP multicast requirements, and the symbol-clash workaround (prefix_symbols feature) can't be used simultaneously with shared memory support, so you have to pick your poison if loading both DDS plugins at once. No integration tests or example workloads in the repo itself — you're on your own figuring out whether your QoS configuration will actually survive the bridge.