This is covered in the wiki but some of the high-level features are: Full-distributed (no broker) Built-in security messages are authenticates and encrypted end-to-end (node-to-node) Publications and subscriptions can have multiple topic strings (subs only match if all required topics are present) MQTT-like wild-card matching (+ and #) MQTT-like retained messages, but with TTL Forms mesh overlay network with hop-by-hop routing based on subscriptions Automatic subnet bridging- container and virtual network friendly Supports UDP multicast and unicast Built-in support for RPC Built-in support for data series Simple protocol designed to be implementable on MCUs Protocol itself is payload agnostic Not all of these features are currently exploited in the RMW layer. --- [Visit Topic](https://discourse.ros.org/t/non-dds-based-rmw-implementation/5890/5) 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: