Once upon a time there was this study:
http://design.ros2.org/articles/ros_with_zeromq.html
I would love to see (er, work on) a middleware option that used the 'cereal' serializer and ZeroMQ. Is this feasible to implement with the present middleware interface? I looked through the old design document on middleware, but it didn't seem to explain the present interface. Have we any current docs for writing middleware?
I like the 'cereal' approach because it would negate the need for an intermediate message copy before serialization. I also like the capnproto project; however, it wasn't obvious to me how that could be used without the extra copy before serialization.
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