[ros-users] [Discourse.ros.org] [Next Generation ROS] Non-DDS-based RMW implementation

Greg Burns ros.discourse at gmail.com
Wed Aug 29 17:40:00 UTC 2018

This is covered in the wiki but some of the high-level features are:

Full-distributed (no broker)

Built-in security  messages are authenticates and encrypted end-to-end (node-to-node)

Publications and subscriptions can have multiple topic strings (subs only match if all required topics are present)

MQTT-like wild-card matching (+ and #)

MQTT-like retained messages, but with TTL

Forms mesh overlay network with hop-by-hop routing based on subscriptions

Automatic subnet bridging- container and virtual network friendly

Supports UDP multicast and unicast

Built-in support for RPC

Built-in support for data series

Simple protocol designed to be implementable on MCUs

Protocol itself is payload agnostic

Not all of these features are currently exploited in the RMW layer.


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