Hi, 2013/5/27 Jonathan Bohren : > Can you ping the SIG and maybe even ROS-users for people to test it out when > it's operational? Done. I just pushed the last bits to my fork of ros_comm [1], to txrospy [2] and two examples to ros_beginners_tutorials [3]. These changes add ZeroMQ as the transport and Thrift as the serialization protocol for the Master API and for ROS RPC. Basically: - Make rosmaster listen on ROS_MASTER_URI + 1 for ZeroMQ + Thrift incoming requests. It still listens on ROS_MASTER_URI for normal XML-RPC requests, so it's compatible with existing clients. Requires python-zmq, thrift-compiler and python-thrift, you can add Chris Lea's and Warren Noronha's PPA repositories [4][5] and install these dependencies with apt-get install python-zmq thrift-compiler python-thrift - Integrate support for asynchrnous Thrift and txZMQ to txrospy. Requires txzmq (pip install txzmq) - Two examples that show the use of txrospy with ZeroMQ and Thrift. It's all very preliminary, and doesn't really take advantage of ZeroMQ (e.g. no multicast) and not all the Master API methods are supported (e.g. registerPublisher/registerSubscriber). I didn't make the changes to rospy because I wasn't as familiar with its codebase as with txrospy, but I think the changes could be ported to it fairly easily. Cheers. 1 - https://github.com/esteve/ros_comm/tree/zeromq_thrift 2 - https://github.com/esteve/txrospy/tree/zeromq_thrift 3 - https://github.com/esteve/ros_beginner_tutorials/tree/zeromq_thrift 4 - https://launchpad.net/~chris-lea/+archive/zeromq 5 - https://launchpad.net/~wnoronha/+archive/thrift