[ros-users] ROS & DDS

[William Woodall]

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 <andrew.unit at gmail.com>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 at 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 at 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 at 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 at acin.tuwien.ac.at       http://users.acin.tuwien.ac.at/mzillich
>>>> Tel: +43 1 58801 376648           Fax: +43 1 58801 37698
>>>>
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>>>>
>>>
>>>
>>>
>>> --
>>> William Woodall
>>> ROS Development Team
>>> william at osrfoundation.org
>>>  http://williamjwoodall.com/
>>>
>>
>>
>>
>> --
>> William Woodall
>> ROS Development Team
>> william at osrfoundation.org
>> http://williamjwoodall.com/
>>
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>>
>>
>
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-- 
William Woodall
ROS Development Team
william at osrfoundation.org
http://williamjwoodall.com/
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