[ros-users] ros node protocol

Ken Conley kwc at willowgarage.com
Wed Jul 7 15:15:42 UTC 2010

connected is a boolean, but getBusStats is underdeveloped and unused
right now, so I wouldn't worry about it (or use it). The API was meant
for a tool that hasn't had high enough priority yet.

For requestTopic, the assumption is that the subscriber would send a
machine ID along with the request for shared memory. The subscriber
sends a list of lists, where each list is a transport name plus any
additional parameters necessary for validating that transport, like IP

The general protocol is the subscriber sends an ordered list of
protocols, and the publisher selects a valid one. The subscriber
should still send other fallback protocols in the shared memory
protocol is not achievable.

hope this helps,
 - Ken

On Wed, Jul 7, 2010 at 6:19 AM, Andrew Harris <andrew.unit at gmail.com> wrote:
> Hello,
>   I'm looking at the slave API here:
> http://www.ros.org/wiki/ROS/Slave_API
>  I have a couple easy questions.  First, in pubConnectionData there
> is a "connected" field.  I am curious about what type that field is,
> in terms of XMLRPC types.  Second, in requestTopic, if there were a
> shared memory protocol, what is the recommended way to figure out
> whether this potential subscriber is on the local machine? Would it be
> to make a lookupNode() RPC call to the master and comparing the IP
> addresses?
> thanks,
> -andrew
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