Awesome! We'll try this out soon! -j On Fri, May 31, 2013 at 8:58 AM, Esteve Fernandez wrote: > Hi, > > 2013/5/27 Jonathan Bohren : > > Can you ping the SIG and maybe even ROS-users for people to test it out > when > > it's operational? > > Done. I just pushed the last bits to my fork of ros_comm [1], to > txrospy [2] and two examples to ros_beginners_tutorials [3]. These > changes add ZeroMQ as the transport and Thrift as the serialization > protocol for the Master API and for ROS RPC. Basically: > > - Make rosmaster listen on ROS_MASTER_URI + 1 for ZeroMQ + Thrift > incoming requests. It still listens on ROS_MASTER_URI for normal > XML-RPC requests, so it's compatible with existing clients. Requires > python-zmq, thrift-compiler and python-thrift, you can add Chris Lea's > and Warren Noronha's PPA repositories [4][5] and install these > dependencies with apt-get install python-zmq thrift-compiler > python-thrift > - Integrate support for asynchrnous Thrift and txZMQ to txrospy. > Requires txzmq (pip install txzmq) > - Two examples that show the use of txrospy with ZeroMQ and Thrift. > > It's all very preliminary, and doesn't really take advantage of ZeroMQ > (e.g. no multicast) and not all the Master API methods are supported > (e.g. registerPublisher/registerSubscriber). I didn't make the changes > to rospy because I wasn't as familiar with its codebase as with > txrospy, but I think the changes could be ported to it fairly easily. > > Cheers. > > 1 - https://github.com/esteve/ros_comm/tree/zeromq_thrift > 2 - https://github.com/esteve/txrospy/tree/zeromq_thrift > 3 - https://github.com/esteve/ros_beginner_tutorials/tree/zeromq_thrift > 4 - https://launchpad.net/~chris-lea/+archive/zeromq > 5 - https://launchpad.net/~wnoronha/+archive/thrift > > -- > You received this message because you are subscribed to the Google Groups > "ROS SIG NG ROS" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to ros-sig-ng-ros+unsubscribe@googlegroups.com. > For more options, visit https://groups.google.com/groups/opt_out. > > > -- Jonathan Bohren Laboratory for Computational Sensing and Robotics http://dscl.lcsr.jhu.edu/People/JonathanBohren