Zenoh + RaptorQ: Handling bulk asset transfer and command QoS in degraded/NLOS
Overview
Source roundup from published reports. Claims below are attributed to their publishers, not independently verified. ROS Discourse — Community updates: Zenoh + RaptorQ: Handling bulk asset transfer and command QoS in degraded/NLOS environments. A ROS 2 transport prototype using Zenoh and RaptorQ fountain codes addresses packet loss and command prioritization in outdoor robotics. It uses interleaved source blocks, token bucket pacing, and priority-based congesti…
Generated from attributed reports · Updated 33 minutes ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · original size: 158500 other · Basis not reported
“nchronously with batched disk commits to avoid I/O stalls on embedded flash media. Running the Simulation You can test two peers communicating over a simulated 25% packet-loss link locally: git clone https://github.com/oceans-niagara/zenoh-fountain-transport cd zenoh-fountain-transport pip install eclipse-zenoh raptorq cryptography cbor2 python demo.py Expected output: Original Size : 158,500 bytes Compressed Size :”
Exact source · revision 2Source owner not reported
Reported quantity · total droplets: 111 other · Basis not reported
“36,042 bytes CID (SHA-256) : 7d4a2e... RFC 6330 Blocks : 3 Source Blocks (Interleaved) Total Droplets : 111 Streaming interleaved droplets across Zenoh (simulating 25% radio drop)... Ingested: 83, Dropped: 28 Broadcast Duration: 3.82s Solved Blocks: 3 of 3 Assembly & Hash Time: 0.62 ms Security: SUCCESS (Ed25519 whitelisted command delivered via Zenoh DATA_HIGH) Status: SUCCESS (Multi-block bit-exact match, 0 retrans”
Exact source · revision 2Source owner not reported
Reported quantity · ingested droplets: 83 other · Basis not reported
“36,042 bytes CID (SHA-256) : 7d4a2e... RFC 6330 Blocks : 3 Source Blocks (Interleaved) Total Droplets : 111 Streaming interleaved droplets across Zenoh (simulating 25% radio drop)... Ingested: 83, Dropped: 28 Broadcast Duration: 3.82s Solved Blocks: 3 of 3 Assembly & Hash Time: 0.62 ms Security: SUCCESS (Ed25519 whitelisted command delivered via Zenoh DATA_HIGH) Status: SUCCESS (Multi-block bit-exact match, 0 retrans”
Exact source · revision 2Source owner not reported
Reported quantity · dropped droplets: 28 other · Basis not reported
“36,042 bytes CID (SHA-256) : 7d4a2e... RFC 6330 Blocks : 3 Source Blocks (Interleaved) Total Droplets : 111 Streaming interleaved droplets across Zenoh (simulating 25% radio drop)... Ingested: 83, Dropped: 28 Broadcast Duration: 3.82s Solved Blocks: 3 of 3 Assembly & Hash Time: 0.62 ms Security: SUCCESS (Ed25519 whitelisted command delivered via Zenoh DATA_HIGH) Status: SUCCESS (Multi-block bit-exact match, 0 retrans”
Exact source · revision 2Source owner not reported
Reported quantity · broadcast duration: 3.82 other · Basis not reported
“36,042 bytes CID (SHA-256) : 7d4a2e... RFC 6330 Blocks : 3 Source Blocks (Interleaved) Total Droplets : 111 Streaming interleaved droplets across Zenoh (simulating 25% radio drop)... Ingested: 83, Dropped: 28 Broadcast Duration: 3.82s Solved Blocks: 3 of 3 Assembly & Hash Time: 0.62 ms Security: SUCCESS (Ed25519 whitelisted command delivered via Zenoh DATA_HIGH) Status: SUCCESS (Multi-block bit-exact match, 0 retrans”
Exact source · revision 2Source owner not reported
Reported quantity · assembly time: 0.62 other · Basis not reported
“36,042 bytes CID (SHA-256) : 7d4a2e... RFC 6330 Blocks : 3 Source Blocks (Interleaved) Total Droplets : 111 Streaming interleaved droplets across Zenoh (simulating 25% radio drop)... Ingested: 83, Dropped: 28 Broadcast Duration: 3.82s Solved Blocks: 3 of 3 Assembly & Hash Time: 0.62 ms Security: SUCCESS (Ed25519 whitelisted command delivered via Zenoh DATA_HIGH) Status: SUCCESS (Multi-block bit-exact match, 0 retrans”
Exact source · revision 2Source owner not reported
Reported quantity · security status: 0 other · Basis not reported
“36,042 bytes CID (SHA-256) : 7d4a2e... RFC 6330 Blocks : 3 Source Blocks (Interleaved) Total Droplets : 111 Streaming interleaved droplets across Zenoh (simulating 25% radio drop)... Ingested: 83, Dropped: 28 Broadcast Duration: 3.82s Solved Blocks: 3 of 3 Assembly & Hash Time: 0.62 ms Security: SUCCESS (Ed25519 whitelisted command delivered via Zenoh DATA_HIGH) Status: SUCCESS (Multi-block bit-exact match, 0 retrans”
Exact source · revision 2Source owner not reported
Evidence dependency changes (1)
- 2026-10-30T17:24:20.770Z · evidence updated · source revision 2. Evidence extraction was updated; current source attributions are shown above.
Report timeline
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- ROS Discourse — Community updatesSignalZenoh + RaptorQ: Handling bulk asset transfer and command QoS in degraded/NLOS environments
A ROS 2 transport prototype using Zenoh and RaptorQ fountain codes addresses packet loss and command prioritization in outdoor robotics. It uses interleaved source blocks, token bucket pacing, and priority-based congestion control to ensure reliable data transfer in degraded NLOS conditions.
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