Work on remote

communication.md

@@ -7,12 +7,15 @@ communication channels between agents.
 We can choose one of the following way to communicate between agents:
 
 - Use ROS2. We need to make sure the DDS layer is configured correctly
-in this case. All agents will have the same value for ROS_DOMAIN_ID.
+in this case. All agents will have the same value for
+ROS_DOMAIN_ID. THIS IS NOT CURRENTLY WORKING.
+- Use ZENOH. We specify what should be communicated between agents.  All agents
+have different ROS_DOMAIN_ID or ROS_LOCALHOST_ONLY set to 1.
 - Use JSON coding of messages and send the encoded message between agents using an MQTT
   broker. All agents will have different value for ROS_DOMAIN_ID.
 
 We want to minimize the regular communication between agents.  One
-special proble is /tf so we will soon change the code here to use /ns/tf for the tf.
+special problem is /tf so we will soon change the code here to use /ns/tf for the tf.
 
 
 ## Issues
@@ -25,8 +28,15 @@ special proble is /tf so we will soon change the code here to use /ns/tf for the
 
 ## ROS2
 
+Set the environment variable TST_REMOTE_TRANSPORT to ros.
+
 No topics should be sent regularly between agents using ROS2.
 
+This is currently not implemented.
+
+## ZENOH
+
+Set the environment variable TST_REMOTE_TRANSPORT to zenoh.
 
 ## JSON and MQTT Broker