[ros-users] Can service answers be asynchronous?

Stéphane Magnenat stephane.magnenat at mavt.ethz.ch
Tue Oct 5 15:34:57 UTC 2010

On 05/10/10 17:21, Axelrod, Benjamin wrote:
> Maybe you are looking for something like:
> http://www.ros.org/wiki/actionlib?

No really. Albeit actionlib provides asynchronous IPC-like interaction, 
as far as I have understood, their semantics are ones of an action in 
the robotic meaning, not of an IPC. In the ASEBA context, a service call 
could be "read a value from a memory address in the microcontroller", so 
the semantic is really one of an IPC; yet at the implementation level, 
this operation might take some time. I could of course implement the 
bridge using multi-threading, but then the bandwidth of the bridge would 
be limited by the round-trip time with the microcontrollers, while with 
asynchronous IPC at the service level, I could queue multiple requests 
before getting the first answer.

All the best,


Dr Stéphane Magnenat

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