Hi Jack, 2013/5/22 Jack O'Quin : > > On Wed, May 22, 2013 at 9:37 AM, Esteve Fernandez wrote: >> >> Hi, >> >> there doesn't seem to be a SIG for ROS comm protocols and APIs, so I'm >> writing here anyway :-) > > > There is a ros-sig-ng-ros mailing list. There was some good discussion, but > it has not been very active, lately: > > https://groups.google.com/forum/?fromgroups#!forum/ros-sig-ng-ros > > I am cross-posting there to archive your message. Thanks, I couldn't find it on the SIGs page: http://www.ros.org/wiki/sig > There has been some discussion of using zeromq as a possible low-level > transport framework. It may solve some, but not all, problems with the > current TCP implementation. I've looked at it and been impressed, but > lacking hands-on experience, would not want to make any strong > recommendation. I've used both AMQP and ZeroMQ (haven't test the Crossroads IO fork yet), and I tend to like AMQP more because of the huge community and because it provides a complete messaging stack, not just the point-to-point libraries. For example, an AMQP broker (such as RabbitMQ) could be used as a replacement for ROS Master for discovering ROS nodes. In any case, we'd still need a way to serialize messages and RPC and I think Thrift could be of use in that case. Cheers.