From 8bf0e57600c2950f7f9ac710f499ff66ab4bdc97 Mon Sep 17 00:00:00 2001
From: Nagesh Mandal <106006006+NageshMandal@users.noreply.github.com>
Date: Tue, 1 Apr 2025 15:41:04 +0530
Subject: [PATCH] Enhance Zenoh Integration Documentation

Improve the documentation for Zenoh integration by adding detailed setup instructions, configuration examples.
---
 README.md | 112 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 112 insertions(+)

diff --git a/README.md b/README.md
index 289bccec..b89f5fd2 100644
--- a/README.md
+++ b/README.md
@@ -311,6 +311,109 @@ turtle_twist_writer.publish(message)
 
 > You might want to use ChatGPT to write the Arrow Formatting: https://chat.openai.com/share/4eec1c6d-dbd2-46dc-b6cd-310d2895ba15
 
+
+## Zenoh Integration for Distributed Dataflow (Experimental)
+
+Zenoh is a high-performance pub/sub and query protocol that unifies data in motion and at rest. In **dora-rs**, Zenoh is used for remote communication between nodes running on different machines, enabling distributed dataflow across networks.
+
+### What is Zenoh?
+
+- **Definition:**  
+  [Zenoh](https://zenoh.io) is an open-source communication middleware offering pub/sub and query capabilities.
+- **Benefits in DORA:**  
+  - Simplifies communication between distributed nodes.
+  - Handles NAT traversal and inter-network communication.
+  - Integrates with DORA to manage remote data exchange while local communication still uses efficient shared memory.
+
+### Enabling Zenoh Support
+
+1. **Run a Zenoh Router (`zenohd`):**  
+   Launch a Zenoh daemon to mediate communication. For example, using Docker:
+
+   ```bash
+   docker run -p 7447:7447 -p 8000:8000 --name zenoh-router eclipse/zenohd:latest
+
+
+```markdown
+## Create a Zenoh Configuration File 🎛️
+
+Create a file (e.g., `zenoh.json5`) with the router endpoint details:
+
+```json5
+{
+  "connect": {
+    "endpoints": [ "tcp/203.0.113.10:7447" ]
+  }
+}
+```
+
+---
+
+## Launch DORA Daemons with Zenoh Enabled 🚀
+
+On each machine, export the configuration and start the daemon:
+
+```bash
+export ZENOH_CONFIG=/path/to/zenoh.json5  
+dora daemon --coordinator-addr <COORD_IP> --machine-id <MACHINE_NAME>
+```
+
+---
+
+## Deploy Distributed Nodes via YAML 📄
+
+Mark nodes for remote deployment using the `_unstable_deploy` key:
+
+```yaml
+nodes:
+  - id: camera_node
+    outputs: [image]
+
+  - id: processing_node
+    _unstable_deploy:
+      machine: robot1
+      path: /home/robot/dora-nodes/processing_node
+    inputs:
+      image: camera_node/image
+    outputs: [result]
+```
+
+---
+
+## Start the Coordinator and Dataflow 🏁
+
+Run the coordinator on a designated machine and start the dataflow:
+
+```bash
+dora coordinator
+dora start dataflow.yml
+```
+
+---
+
+## YAML Example for Distributed Dataflow 📘
+
+```yaml
+communication:
+  zenoh:
+    prefix: /my_dora_network
+
+nodes:
+  - id: camera_node
+    custom:
+      run: ./camera_driver.py
+    outputs:
+      - image
+
+  - id: processing_node
+    _unstable_deploy:
+      machine: robot1
+      path: /home/robot/dora-nodes/processing_node
+    inputs:
+      image: camera_node/image
+    outputs:
+      - result
+```
 ## Contributing
 
 We are passionate about supporting contributors of all levels of experience and would love to see
@@ -331,3 +434,12 @@ We also have [a contributing guide](CONTRIBUTING.md).
 ## License
 
 This project is licensed under Apache-2.0. Check out [NOTICE.md](NOTICE.md) for more information.
+
+---
+
+## Further Resources 📚
+
+- [Zenoh Documentation](https://zenoh.io/docs/)
+- [DORA Zenoh Discussion (GitHub Issue #512)](https://github.com/dora-rs/dora/issues/512)
+- [Dora Autoware Localization Demo](https://github.com/dora-rs/dora-autoware-localization-demo)
+```