I'm currently writing a ROS-to-OSC (Open Sound Control) bridge for interfacing with IO equipment that sound/video guys use. I would like to third this effort. ~mc On Tue, Sep 13, 2011 at 11:14, Nicholas Butko wrote: > > Chad, > > Having just done exactly this for my own lab (to interoperate with Flash), > and already doing it previously (to interoperate with iOS and java), I would > like to second this effort. > > --Nick > > > On Sep 13, 2011, at 8:26 AM, "Jenkins, Odest Chadwicke" < > odest_jenkins@brown.edu> wrote: > > > The "elephant in the room" wrt to the current SIGs is bridging > > ROS-to-X, where X is most often some custom codebase already in use by > > some lab. From informal interactions, I hear that many groups use ROS > > as a service with some custom ad hoc network-based bridge for > > connecting to their codebase. There are also bridges for ROS-to-ROS > > (multi-master, foreign relay), ROS-to-web (rosjs), ROS-to-Arduino > > (rosserial), ROS-to-Matlab (ipc-bridge), and many many others (just > > google "ros ipc"). > > > > This fragmentation on top of ROS is and will be a major problem, > > especially for people who want to build on the contributions of the > > greater ROS community (not just the chosen first-class client > > libraries). Such fragmentation limits interoperability and furthers > > reinvention (as everyone designs their own custom protocol), and > > confuses potential applications developers looking for a consistent > > interface to ROS. > > > > Thus, I would propose a "ROS-to-X Bridging" SIG if there are several > > others who voice an interest, and express a willingness to coordinate > > the SIG. > > > > -Chad > > > > > > Date: Fri, 9 Sep 2011 18:11:16 -0700 > > From: Ken Conley > > Subject: Re: [ros-users] multi-master support for Fuerte > > To: User discussions > > Message-ID: > > < > CAAsdojxc659LfujOa8nePRnyDCOPARdOHrUNSbcSEgtPJsD6xA@mail.gmail.com> > > Content-Type: text/plain; charset=ISO-8859-1 > > > > On Fri, Sep 9, 2011 at 12:56 PM, Armstrong-Crews, Nicholas - 0447 - > > MITLL wrote: > >> Are we sure flaky/intermittent connectivity is just a sub-topic of > multi-master? Evidentially, even operating a single robot over wifi poses > challenges with latency, message buffering, and bandwidth. Wouldn't it be > great to have some kind of network quality-of-service support built in to > the core pubsub? If not feasible under the pubsub hood, maybe a library > analogous to actionlib or at least some examples / best practices? > > > > While it is possible to attempt separate SIGs, those working on > > multirobot comms *have* to think about wifi issues, so the separate > > SIG may just increase process overhead. For example, I'm already > > thinking about combining the 'target platforms' and 'thirdparty > > library normalization' SIGs as the target platform decisions will in > > part be driven by decisions regarding thirdparty libraries. > > > > - Ken > > > >> As a testimonial, in the past, we implemented a multi-master multi-robot > system over wifi without any changes to the rosmaster code (OK, there was a > one-line change). However, we were stymied by the wifi issues I mentioned > above (message buffering, etc.); we had to build logic to react to dropped > connections in each node individually. Still, the latency in detecting a > dropped connection (TCP timeout?) had lethal consequences. > >> > >> One other aside: I feel like multi-master is not quite the same as > multi-robot. It might be worthwhile to consider the multi-robot use case > independently; for example, even if the robots use a single master on a > reliable network, how should namespaces (in ROS node/topic names and in tf > frames) be used effectively? Also, I notice that if both robots have complex > 3D models, then hundreds of frames are sent between them (at very high > rates, even if most of the joints are "fixed"); but Robot1 probably doesn't > care about the position of the left toe of Robot2. Time sync is another an > issue that might be able to be handled nicely in the ROS core framework. > >> > >> All that said, guess I should join (at least one) SIG :) > >> > >> Regards, > >> -Nick > >> > >> -----Original Message----- > >> From: ros-users-bounces@code.ros.org [mailto: > ros-users-bounces@code.ros.org] On Behalf Of Ken Conley > >> Sent: Thursday, September 08, 2011 10:09 PM > >> To: User discussions > >> Subject: Re: [ros-users] multi-master support for Fuerte > >> > >> I'm travelling now so I don't have the proper bandwidth to respond to > >> the comments here, but I think it's already demonstrating that an SIG > >> will have more than enough to talk about. ? ?I've added my name to the > >> signup. > >> > >> cheers, > >> Ken > >> > >> On Thu, Sep 8, 2011 at 10:12 AM, Jeff Rousseau > >> wrote: > >>>> Sounds like multi-master is a potential SIG for Fuerte planning > >>>> (http://www.ros.org/wiki/fuerte/Planning). ?As Ken alluded, it'll > likely be > >>>> hard to find the one-size-fits-all solution, but there would be a lot > of value in > >>>> polishing up multi-master support for a couple of common use cases. > >>>> > >>>> ? ? ? brian. > >>> > >>> Added the SIG to the wiki for anyone who wants to sign up: > >>> > >>> http://www.ros.org/wiki/fuerte/Planning#Multi-Master_Support > >>> > >>> The information transmitted is intended only for the person or entity > to which it is addressed and may contain confidential and/or privileged > material. 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