Once upon a time there was this study: http://design.ros2.org/articles/ros_with_zeromq.html I would love to see (er, work on) a middleware option that used the 'cereal' serializer and ZeroMQ. Is this feasible to implement with the present middleware interface? I looked through the old design document on middleware, but it didn't seem to explain the present interface. Have we any current docs for writing middleware? I like the 'cereal' approach because it would negate the need for an intermediate message copy before serialization. I also like the capnproto project; however, it wasn't obvious to me how that could be used without the extra copy before serialization. --- [Visit Topic](https://discourse.ros.org/t/zeromq-middleware-is-it-still-possible/3269/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: