rewire-docker

Docker images for Rewire — a drop-in ROS 2 bridge for Rerun.

Try rewire without installing anything on your host. Each image includes ROS 2, rewire, zenohd, and zenoh-bridge-ros2dds.

Images

Tag	ROS 2	Architecture
ghcr.io/rewire-run/rewire:humble	Humble	amd64, arm64
ghcr.io/rewire-run/rewire:jazzy	Jazzy	amd64, arm64

Quick Start

docker pull ghcr.io/rewire-run/rewire:humble

docker run --rm ghcr.io/rewire-run/rewire:humble rewire --version
docker run --rm ghcr.io/rewire-run/rewire:humble rewire types

Docker Compose

Three networking scenarios are available via profiles:

docker compose --profile dds up            # DDS multicast (default ROS 2)
docker compose --profile zenoh up          # Full Zenoh (rmw_zenoh_cpp + router)
docker compose --profile zenoh-bridge up   # DDS nodes + zenoh-bridge-ros2dds

Each profile starts a talker node and rewire, saving a recording to ./data/recording.rrd.

Running with Your Own Nodes

Start a ROS 2 node inside the container:

docker run --rm --network host ghcr.io/rewire-run/rewire:humble \
    ros2 run demo_nodes_cpp talker

In another terminal, bridge to Rerun:

docker run --rm --network host ghcr.io/rewire-run/rewire:humble \
    rewire record --all

Save a Recording

docker run --rm --network host -v $(pwd)/data:/data ghcr.io/rewire-run/rewire:humble \
    rewire record --all --save /data/recording.rrd

X11 Forwarding (Linux)

xhost +local:docker
docker run --rm --network host \
    -e DISPLAY=$DISPLAY \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    ghcr.io/rewire-run/rewire:humble rewire record --all

Interactive Shell

docker run --rm -it --network host ghcr.io/rewire-run/rewire:humble bash

ROS 2 is already sourced. Run any ROS 2 or rewire command directly.

What's Inside

Component	Source	Purpose
ROS 2 Humble/Jazzy	OSRF apt	Run nodes, replay bags
rewire	GitHub Releases	Bridge ROS 2 topics to Rerun
zenohd	conda-forge via pixi	Zenoh router
zenoh-bridge-ros2dds	Eclipse Zenoh	DDS ↔ Zenoh bridge
demo_nodes_cpp	OSRF apt	Example talker/listener
tf2_ros	OSRF apt	TF transform broadcasting
rmw_cyclonedds_cpp	OSRF apt	CycloneDDS RMW
rmw_fastrtps_cpp	OSRF apt	FastDDS RMW
rmw_zenoh_cpp	OSRF apt	Zenoh RMW

End-to-End Test

Verify everything works in one command:

docker run --rm ghcr.io/rewire-run/rewire:humble bash -c '
    ros2 run demo_nodes_cpp talker &
    sleep 3
    timeout 10 rewire record --all --save /tmp/test.rrd 2>&1
    kill %1 2>/dev/null
    SIZE=$(stat -c%s /tmp/test.rrd 2>/dev/null || echo 0)
    if [ "$SIZE" -gt 100 ]; then
        echo "PASS: recording is $SIZE bytes"
    else
        echo "FAIL: recording too small or missing"
        exit 1
    fi
'

Build Locally

docker build -t rewire:humble .
docker build --build-arg ROS_DISTRO=jazzy -t rewire:jazzy .

Build Arguments

Argument	Default	Description
ROS_DISTRO	humble	ROS 2 distribution
REWIRE_VERSION	0.2.6	Rewire release version
ZENOH_BRIDGE_VERSION	1.8.0	zenoh-bridge-ros2dds version