For the theoretical system we are discussing here, that isn't entirely clear yet, but a large part of it would be looking at the DDS specifications: http://portals.omg.org/dds/content/page/specifications The DDS specifications separately define a wire protocol, a general API and behavior, as well as language specific API's (C/C++/Java), and the IDL message definition system, among other things. If you meant for the current ROS implementation, this wiki page is probably where you would start: http://wiki.ros.org/Implementing%20Client%20Libraries -- On Thu, Feb 20, 2014 at 3:44 AM, Andrew Harris wrote: > Hello, > > Imagine a small company that would like to implement, for example, an > Ada client API for ROS. What would this small company have to do in order > to find out how their new ROS Ada client API must behave? > > best regards, > -andrew > > > On Tue, Feb 18, 2014 at 8:43 PM, William Woodall < > william@osrfoundation.org> wrote: > >> Sorry that entirely wrong, Michi Henning is chief scientist at ZeroC >> (which makes the Ice middleware). Martin Sústrik is the developer of ZeroMQ >> and nanomsg. Sorry about that :/. >> >> Still an interesting point. >> >> >> On Tue, Feb 18, 2014 at 5:40 PM, William Woodall < >> william@osrfoundation.org> wrote: >> >>> This article was very good: >>> >>> https://queue.acm.org/detail.cfm?id=1142044 >>> >>> I think that is outlines many of the fears that one might have with DDS, >>> culturally, but we should keep in mind that it is describing CORBA. Part of >>> me hopes that OMG learned from this with DDS and that the history of DDS is >>> different enough to avoid some of the mistakes CORBA made. It is definitely >>> something we will keep an eye on as we do market research and during our >>> prototyping. >>> >>> A very interesting point is that this article was written by Michi >>> Henning, the chief architect of ZeroMQ, who as since moved on to nanomsg. >>> Such a small world :) >>> >>> >>> On Sat, Feb 15, 2014 at 3:19 PM, Michael Zillich < >>> zillich@acin.tuwien.ac.at> wrote: >>> >>>> Hi, >>>> >>>> my two cents regarding this discussion come from experiences with >>>> another "industry-standard" middleware, that was somewhat ... complex >>>> internally and thus typically was hidden under layers of convenience code: >>>> the abominable CORBA. >>>> (I ended up writing my own middleware after CORBA nearly killed a >>>> project) >>>> >>>> I have to admit I know nothing about DDS, so forgive me if I unjustly >>>> critizise it. But reading in some of the ongoing discussions that its >>>> complexity can easily be handled by some abstraction layer .. that rang an >>>> alarm bell. >>>> >>>> If something is too complex to use for the intended target audience of >>>> developers, and thus has to be hidden behind another layer (which, trust >>>> me, inevitably leads to the most hilarious bugs you can possibly imagine) >>>> then it is probably the wrong technology for that application area. (But >>>> there are certainly other appliction areas where this middleware is the >>>> perfect choice). >>>> >>>> So my personal choice is always a clear and simple solution targeted at >>>> a specific application area (with specific requirements, problems, and >>>> development procedures and cycles) rather than a solves-all-and-everyones-problems >>>> solution developled by large committees. >>>> >>>> cheers, >>>> Michael >>>> >>>> p.s. For those interested in the CORBA story read the enlightening >>>> article by Michi Henning >>>> https://queue.acm.org/detail.cfm?id=1142044 >>>> who as one of the authors of "Advanced CORBA Programming with C++" is >>>> probably one of the only two persons on the planet, who actually understood >>>> CORBA (the other person being Steve Vinoski, the other author of the book). >>>> >>>> -- >>>> Dr. Michael Zillich >>>> ACIN Institute of Automation and Control >>>> Vienna University of Technology >>>> (DVR-Number 0005886) >>>> Gusshausstr 27-29/E376, 1040 Vienna, Austria >>>> zillich@acin.tuwien.ac.at http://users.acin.tuwien.ac.at/mzillich >>>> Tel: +43 1 58801 376648 Fax: +43 1 58801 37698 >>>> >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@lists.ros.org >>>> http://lists.ros.org/mailman/listinfo/ros-users >>>> >>> >>> >>> >>> -- >>> William Woodall >>> ROS Development Team >>> william@osrfoundation.org >>> http://williamjwoodall.com/ >>> >> >> >> >> -- >> William Woodall >> ROS Development Team >> william@osrfoundation.org >> http://williamjwoodall.com/ >> >> _______________________________________________ >> ros-users mailing list >> ros-users@lists.ros.org >> http://lists.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > > -- William Woodall ROS Development Team william@osrfoundation.org http://williamjwoodall.com/