[ros-users] The future of ROS 2.0 protocol changes

Jenkins, Odest Chadwicke cjenkins at cs.brown.edu
Wed Sep 17 15:12:58 UTC 2014


I respectfully disagree with pushing discussions on high-level issues (like
this) to a sig.

Hai's question pertains directly to core changes in the ROS protocols.  He
makes a clear argument for why interoperability with the web should be part
of the core scope of ROS, and not treated as an disconnected component.

Usability is a high-level concern for ROS and ROS 2.0, especially for
front-end development, broader accessibility (e.g., outside of a LAN,
without requiring super user privileges), and cross-platform performance.
 Towards this, Hai makes a very good points about ROS front-ends being
limited to Ubuntu/rViz and ROS/rosbridge having room for improvement, and
whether DDS addresses these limitations.  Given the magnitude of the ROS
2.0 transition, these points should be addressed among the larger
community, as was done with ros-users at the beginnings of ROS over five
years ago.

Thus, I would ask again that discussions related to ROS-ROS2.0 transitions
remain on ros-users until there is some larger consensus.  While this
requires some people to bear through some additional messages, engaging the
larger community in this discussion will be better for everyone in the long
run such that we do not "throw the current ROS users under the bus."


Date: Tue, 16 Sep 2014 13:43:58 -0500
> From: William Woodall <william at osrfoundation.org>
> To: User discussions <ros-users at lists.ros.org>
> Subject: Re: [ros-users] The future of ROS 2.0 protocol changes
> Message-ID:
>         <CAFe2DWgKj=
> NF4H69qUYOtaUO-p7F8UbtmRNboZnyLy1adnTa6A at mail.gmail.com>
> Content-Type: text/plain; charset="utf-8"
> Can we please keep topics like supporting communication with browsers on
> the ng-sig? I have already asked Hai off channel to repost over to the sig,
> which he has and I have since responded there too.
> I understand the want to discuss high level concerns about ROS 2.0 on
> ros-user's, which is fine, but we should really strive to keep the traffic
> here low (we get a lot of complaints about the traffic on this list from
> technical discussions and support questions).
> Thanks,
> On Tue, Sep 16, 2014 at 1:26 PM, Jonathan Bohren <
> jonathan.bohren at gmail.com>
> wrote:
> >
> > On Tue, Sep 16, 2014 at 1:43 PM, Hai Nguyen <haidai at gmail.com> wrote:
> >
> >> I'm not particularly familiar with DDS, but does it work nicely with
> >> browsers? either through some sort of translation or better yet,
> natively?
> >> I'm interested as the current ROS to WebSockets bridge is particularly
> >> ugly: the bridge has to subscribe to all the messages that any web
> client
> >> would need to listen to and then rebroadcast them, which introduces
> >> additional delays making it horribly painful to use for things like
> teleop
> >> with large messages like images or point clouds.
> >>
> >
> > This looks promising:
> > http://www.prismtech.com/blog/dds-web-programming-dscript
> >
> > -j
> >
> > --
> > Jonathan Bohren
> > Laboratory for Computational Sensing and Robotics
> > http://dscl.lcsr.jhu.edu/People/JonathanBohren
> >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at lists.ros.org
> > http://lists.ros.org/mailman/listinfo/ros-users
> >
> >
> --
> William Woodall
> ROS Development Team
> william at osrfoundation.org
> http://wjwwood.io/
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