workgroup:messaging:start
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workgroup:messaging:start [2017/03/16 17:01] Mark Charlebois created |
workgroup:messaging:start [2017/05/17 17:10] (current) Mark Charlebois |
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| * Extensible serialization format | * Extensible serialization format | ||
| - | ==== Current Status ==== | + | **Weekly Messaging WG Meetings:** Google Hangout, Thurs mornings PT. |
| - | Weekly Messaging WG Meetings are being held by Google Hangout on Wed mornings. | + | |
| + | ===== Current Status ===== | ||
| The majority of the work to date has been done by eProsima on creating a bridge between uORB and RTPS. There are repositories on Github and videos on YouTube of the progress to date: | The majority of the work to date has been done by eProsima on creating a bridge between uORB and RTPS. There are repositories on Github and videos on YouTube of the progress to date: | ||
| - | ==== Open Issues ==== | + | * https://github.com/eProsima/Fast-RTPS |
| + | * https://github.com/ros2/rmw_fastrtps | ||
| + | * https://github.com/eProsima/Fast-CDR | ||
| + | * https://github.com/eProsima/PX4-FastRTPS-PoC | ||
| + | * https://www.youtube.com/watch?v=NF65EPD-6aY&feature=youtu.be | ||
| + | |||
| + | Intel is actively working on support FastRTPS on Aero: | ||
| + | * https://github.com/edersondisouza/Firmware/commits/test-rtps-share | ||
| + | |||
| + | ===== Open Issues ===== | ||
| There are a few open issues to resolve: | There are a few open issues to resolve: | ||
| * Whether to support ROS via full ROS2 support and existing ROS2 to ROS bridge or create a MAVROS impelmentation that works with RTPS | * Whether to support ROS via full ROS2 support and existing ROS2 to ROS bridge or create a MAVROS impelmentation that works with RTPS | ||
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| * The details of the PX4 integration plan need to be flushed out | * The details of the PX4 integration plan need to be flushed out | ||
| * Snapdragon FastRPC support, OMG IDL and DDS RPC | * Snapdragon FastRPC support, OMG IDL and DDS RPC | ||
| - | * Investigate the best architecture for integration of FastRTPS with FastRPC | + | * Investigate the best architecture for integration of FastRTPS with FastRPC |
| + | * Serialization format | ||
| + | * ROS2 uses ROS serialization format which is currently not extensible | ||
| + | * 3DR had selected Cap n' Proto for serialization | ||
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| 3DR analysis of serialization protocols: | 3DR analysis of serialization protocols: | ||
| * https://docs.google.com/document/d/1HDOfb3cQ6WiYm9M02RjAgyXRRNhMlGJF1iaLBAVp-T8/edit | * https://docs.google.com/document/d/1HDOfb3cQ6WiYm9M02RjAgyXRRNhMlGJF1iaLBAVp-T8/edit | ||
| + | |||
| + | OSRF Analysis of RTPS and why it was selected for ROS2: | ||
| + | * http://design.ros2.org/articles/ros_with_zeromq.html | ||
| + | * http://design.ros2.org/articles/ros_on_dds.html | ||
| + | |||
| + | Links to other middleware comparisons: | ||
| + | * https://www.slideshare.net/RealTimeInnovations/comparison-of-mqtt-and-dds-as-m2m-protocols-for-the-internet-of-things | ||
| + | * http://www.eejournal.com/archives/articles/20150420-protocols/ | ||
| + | * http://electronicdesign.com/iot/understanding-protocols-behind-internet-things | ||
| + | * http://mnb.ociweb.com/mnb/MiddlewareNewsBrief-201004.html | ||
| + | |||
| + | The benefits of RTPS over alternatives is: | ||
| + | * Industry standard with several commercial and open source providers | ||
| + | * Can handle unreliable links | ||
| + | * Performance is good, and better performers have fewer needed features | ||
| + | * Potential compatibility with ROS2 (depends on serialization used) | ||
workgroup/messaging/start.1489683709.txt.gz · Last modified: 2017/03/16 17:01 by Mark Charlebois
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