[ros-users] ROS & DDS

[Edwards, Shaun M.]

+1 Community meeting
+1 For compiling what is good in ROS and what needs to be improved (middleware-wise).  I feel like this information is needed in order to make a decision that ultimately improves ROS, even it brings some pain.

Shaun Edwards
Senior Research Engineer
Manufacturing System Department


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From: ros-users-bounces at lists.ros.org [mailto:ros-users-bounces at lists.ros.org] On Behalf Of Jonathan Bohren
Sent: Sunday, February 23, 2014 9:54 AM
To: User discussions
Subject: Re: [ros-users] ROS & DDS


So, back when ROS was in its infancy, Willow brought in representatives from a ton of different robotics middleware projects to see if there was something that would satisfy their needs. That was about 7 years ago.

Maybe OSRF could do something similar, now, and have a meeting or teleconference or videochat with lead developers involved with a bunch of industry transport frameworks that it's considering (dds, zmq, etc). Then you guys could get their opinions on all of the issues that have been brought up in this thread?

It could be an interesting discussion and if it's on Google+ it could make for a really engaging live hangout, too. This would involve the community in real-time and enable people to ask questions or comment on their needs.

-j
On Feb 23, 2014 12:45 AM, "William Woodall" <william at osrfoundation.org<mailto:william at osrfoundation.org>> wrote:
We will definitely look at it as an option, but the GPL license isn't ideal since the rest of our work is generally BSD or Apache 2.0.

On Sat, Feb 22, 2014 at 9:17 PM, Ben Kehoe <benk at berkeley.edu<mailto:benk at berkeley.edu>> wrote:
Is ZeroC's ICE under consideration? It seems like it has a lot of the features people have been discussing, including encryption and compression, ability to reduce inter-host communication for topics, distributed registries, and even ROS-like parameters (though they live on each component rather than on a central parameter server). It has a pretty similar though more general message format.

-Ben

On Sat, Feb 22, 2014 at 12:16 AM, Geoffrey Biggs <geoffrey.biggs at aist.go.jp<mailto:geoffrey.biggs at aist.go.jp>> wrote:
On 21/02/14 08:45, Brian Gerkey wrote:
> On Thu, Feb 20, 2014 at 3:26 PM, Aravind Sundaresan
> <asundaresan at gmail.com<mailto:asundaresan at gmail.com>> wrote:
>> We are using ROS in a DARPA program where we need the communication between
>> the master and nodes as well as the messaging to be secure. Is there anybody
>> else who finds this important? Does DDS provide secure communications?
>
> You're not alone in wanting secure communications for robotics.  We
> would be remiss in a major rewrite to completely ignore security
> (which is not to say that we must implement security mechanisms, but
> we'd better at least end up with a solid story about our approach to
> security, with clear guidance to users).
>
> As I understand it, there's a proposed extension to the DDS spec,
> currently under review, to add security.  Here's a relevant
> presentation:
>
> http://www.slideshare.net/GerardoPardo/dds-security-standard
>
> But given that DDS is apparently used in so many mission-critical
> applications, surely there's some encryption happening, perhaps in
> non-standard vendor-specific ways that vary by implementation?  Or
> perhaps they're using DDS like we use ROS, where you're expected
> secure your network.
The answer to this is more along the lines of the original target
audience of DDS operating private/closed networks. When all your
communication happens within a single Navy frigate on dedicated
communication wires, security is less problematic. DDS growing beyond
its original audience has caused many vendors to start thinking about
how to do security. A VPN is one option, but obviously many users want
something a bit lighter weight.

Geoff
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--
William Woodall
ROS Development Team
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