[ros-users] New version of micROS RT (an implementation of ROS 1.x on DDS) and its source code available

rdean at gdrs.com rdean at gdrs.com
Wed Sep 24 18:55:47 UTC 2014

Am i correct that your code is using ros serialization on top of a single dds message?

Thank you,
Bob Dean

RCTA Program, Intelligence Task Coordinator
Open Architecture Technical Lead
General Dynamics Land Systems, Robotics
(410) 876-9200 x1768
(240) 418-3634 (cell)

From: ros-users [ros-users-bounces at lists.ros.org] on behalf of dingbo [bding at msn.com]
Sent: Wednesday, September 24, 2014 1:02 PM
To: ros-users at lists.ros.org
Subject: [ros-users] New version of micROS RT (an implementation of ROS 1.x     on DDS) and its source code available

Hi everyone!

We’re pleased to announce that a new version of micROS RT, an implementation of ROS 1.x on DDS, is available to download. Its source code is also available now.

micROS RT (micROS Real-Time) is a modified ROS 1.x C++ kernel which adopts OMG's DDS (Data Distribution Systems for Realtime Systems) as its underlying message transfer protocol. It aims at providing scalable, robust and QoS-assuring message delivery capability while keeping compatibility with ROS 1.x programming paradigms.

The features of micROS RT include:

(1)     Built-in multicast support. Significant performance advantage can be obtained when there are n subscribers in a ROS topic (n>=2).

(2)     Robustness in some adverse network environment. As a mature and industry-level product, DDS is expected to be more robust in some adverse network environment.

(3)     QoS assurance in the message delivery process. For example, you can set the transport priority and latency budget of messages on a ROS topic. It is useful in some real-time settings involving multi nodes/robots.

(4)     Existing ROS programs can easily benefit. No modification is needed and the only thing you should do is to replace a library file in the ROS installation path.

(5)     Interoperable with the official ROS kernel. micROS RT can smartly choose the underlying message delivery protocol in virtue of the protocol negotiation mechanism.

In contrast with the early prototype we released three weeks ago(http://lists.ros.org/pipermail/ros-users/2014-September/068884.html), this version provide complete message QoS setting APIs. And some preliminary tests have been performed.
The binary package, source code, the user’s guide and more information can be found at http://cyberdb.github.io/micROS-RT/. We would be grateful if you can try it out and any feedback would be greatly appreciated.

Bo Ding

Dr. Bo Ding
micROS team, NUDT, China

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