Hi Brian, we have extensively used DDS in combination with ROS. What we basically did is to implement ROS<=>DDS proxies which are pushing topics to the DDS cloud and vice versa. The advantage we see in using DDS is the quality of service (e.g. that it can be assured that no data is lost, even if the connection fails.). another advantage using ROS-DDS proxies is that the very same code can be run without running DDS (only that the robot does not receive other messages). In our experiments, we used localized laser scans in a multi-robot scenario using graph-based slam approaches. Each robots uses its own roscore and the shared DDS topics (coming from other robots) to generate a common map during our distributed exploration approach. In this scenario it would be critical, if scans are lost and not added to the pose graph. If the WiFi connection breaks down all scans are buffered by the DDS cloud and re-sent once the connection is re-established. Our JFR paper, where we used ROS with DDS can be found here: http://onlinelibrary.wiley.com/doi/10.1002/rob.21491/abstract We used the Prismtech implementation of DDS which also provide an academic license. Only drawback with DDS is that it is somewhat hard to set up with all the parameters, especially if you have no expensive enterprise edition (including support). Maybe there are other implementations of DDS. More detailed questions related to DDS can be send directly to me ;-) Cheers, Markus Am 12.02.2014 17:56, schrieb Brian Gerkey: > hi, > > As we work on improving the communications middleware within ROS, one > of the approaches that has come up repeatedly is DDS (Data > Distribution Service; http://portals.omg.org/dds/). There are lots of > positive aspects of DDS as a middleware, and of course some tradeoffs > (e.g., in exchange for lots of features in the message transport, the > API is incredibly verbose; while there are open source > implementations, there's not the feeling of an active community doing > development on them). > > We'd like to understand what the level of interest is within the ROS > community for DDS support. > > So, for those of you who already know something about DDS (especially > if you have experience using it), here are some questions to start a > discussion. Don't feel obliged to answer every question, and also > feel free to answer questions not asked here. If you prefer, you can > reply directly to me, and we'll anonymize your comments before > potentially sharing them. > > What's your opinion of DDS (good, bad, ugly, other)? If you like DDS, > why? If you don't like it, why not? > > How would you compare DDS to the ROS middleware? > > Do you see others in your field using DDS? Have you ever wished that > ROS could "speak DDS"? Have you already used DDS in combination with > ROS? > > thanks, > brian. > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users -- Dr.-Ing. Markus Eich Project Management Marine Inspection Robotics Space Robotics Besuchsadresse der Nebengeschäftstelle: DFKI GmbH Robotics Innovation Center Robert-Hooke-Straße 5 28359 Bremen, Germany Postadresse der Hauptgeschäftsstelle Standort Bremen: DFKI GmbH Robotics Innovation Center Robert-Hooke-Straße 1 28359 Bremen, Germany Tel.: +49 421 178 45-4105 Zentrale: +49 421 178 45-0 Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen) E-Mail: markus.eich@dfki.de Weitere Informationen: http://www.dfki.de/robotik ----------------------------------------------------------------------- Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster (Vorsitzender) Dr. Walter Olthoff Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes Amtsgericht Kaiserslautern, HRB 2313 Sitz der Gesellschaft: Kaiserslautern (HRB 2313) USt-Id.Nr.: DE 148646973 Steuernummer: 19/673/0060/3 ----------------------------------------------------------------------- _______________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users