Items to get rmw_zenoh to Tier-1 status

[clalancette]

The goal for Kilted is to get rmw_zenoh_cpp to Tier-1 status. To get there, we need to do the following (in rough priority order, finished items at the end):

Status	Item	Why?	Related issues/PRs
Done ✔️	Make rmw_zenoh_cpp thread-safe	rmw_zenoh_cpp must be thread-safe between e.g. rmw_destroy_subscriber and a callback that is coming in at the same time	#258, #259, #278 , #289, #288
Done ✔️	Make rmw_zenoh_cpp pass all core tests		#267 #493 #567
Done ✔️	Switch to Zenoh 1.0	Zenoh 1.0 changes the on-the-wire protocol, we should keep up with these changes	#276
Done ✔️	Switch to zenoh-cpp (this will fix a few threading issues)		#327
Done ✔️	Implement Security (i.e. SROS2) for rmw_zenoh_cpp	This is required for Tier-1 RMW implementations	#595
Done ✔️	Make rmw_zenoh_cpp work on Windows	Windows is a Tier-1 platform, thus it must be supported	#232, #268
Done ✔️	Reduce the session creation time	It currently takes 1.5 seconds to create a session, but ROS 2 assumes it is more-or-less instantaneous	#284, #308
In progress	[Optional] Switch to using the upstream zenohd	The zenohd shipped here is a subset of functionality; thus we should switch to the upstream one which has full functionality. Marked optional since the router we ship has all the features needed for ROS use-cases.	#262
Done ✔️	Figure out exactly how and when the zenohd router will be run	To automatically start the router for our CI jobs	#583
Done ✔️	Add in a QUALITY_DECLARATION.md file	Needed for Tier-1 status	#483
Done ✔️	Fix transient-local missed messages	Transient local should work in all circumstances	#263
Done ✔️	Make rmw_zenoh_cpp compatible with Iron, Jazzy, and Rolling	Rolling recently removed the localhost_only option, so we need some follow-up so it will compile there	#255
Done ✔️	Test rmw_zenoh_cpp on RHEL-9	RHEL-9 is a Tier-2 platform, and thus should be supported	✔️ #265 (comment)
Done ✔️	Fix shutdown unsoundness	Zenoh cannot be destroyed during atexit handlers, so we have to do that ahead of time	#170, #283, #591
Done ✔	add rmw_zenoh to rep-2005	To officially document Tier-1 status	ros-infrastructure/rep#417

[ahcorde]

I tried RHEL-9 and rosdep is bringing the required packages cargo and rust to run the rmw_zenoh_cpp. I was able to compile it properly.

[Yadunund]

With ros-infrastructure/rep#417 merged, the last item on the list has been marked Done ✔

A big thank you to @clalancette @francocipollone @ahcorde @codebot @gbiggs @methylDragon @kydos @JEnoch @Mallets @YuanYuYuan @evshary @yellowhatter @imstevenpmwork among so many others who made this possible!

[ros-discourse]

This issue has been mentioned on Open Robotics Discourse. There might be relevant details there:

https://discourse.ros.org/t/osra-tgc-meeting-minutes-for-april-2025/44334/1