Awesome! We'll try this out soon!
-j
On Fri, May 31, 2013 at 8:58 AM, Esteve Fernandez <
esteve@apache.org> wrote:
> Hi,
>
> 2013/5/27 Jonathan Bohren <jonathan.bohren@gmail.com>:
> > 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
>
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--
Jonathan Bohren
Laboratory for Computational Sensing and Robotics
http://dscl.lcsr.jhu.edu/People/JonathanBohren
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