+1 from me for the following paragraph from Ben:


> What I love about ROS is that it has so far been focused on the software experience rather than the hardware. It almost seems like a contradiction to be worrying about QoS when much of your code is Python scripts and other higher-level languages (instead of C) running on Ubuntu (instead of a RTOS). I'm certainly not saying that QoS is unimportant -- it would be very nice to have -- but I would place simplicity as a higher priority. Maybe ROS Industrial would be a better place for DDS or baked-in QoS?
> 
> -Ben
> 
> ________________________________________
> From: ros-users-bounces@lists.ros.org [ros-users-bounces@lists.ros.org] On Behalf Of Brian Gerkey [gerkey@osrfoundation.org]
> Sent: Thursday, February 13, 2014 3:56 AM
> To: User discussions
> Subject: [ros-users] ROS & DDS
> 
> 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.
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