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</o:shapelayout></xml><![endif]--></head><body lang=ZH-CN link="#0563C1" vlink="#954F72" style='text-justify-trim:punctuation'><div class=WordSection1><p class=MsoPlainText><span lang=EN-US>Hi everyone,<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><o:p> </o:p></span></p><p class=MsoPlainText><span lang=EN-US>MicROS RT is a modified ROS C++ core that aims to provide scalable and QoS-assuring message delivery capability by adopting DDS. You can find more information about this project in our previous mail <a href="http://lists.ros.org/pipermail/ros-users/2014-September/068884.html">http://lists.ros.org/pipermail/ros-users/2014-September/068884.html</a><o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>The following links are micROS RT (early evaluation version) compiled for various platforms and ROS versions.<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>micROS RT 0.14beta, based on ROS Hydro, 32bit binary distribution:<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><a href="http://1drv.ms/1rGNbcu">http://1drv.ms/1rGNbcu</a><o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>micROS RT 0.14beta, based on ROS Hydro, 64bit binary distribution:<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><a href="http://1drv.ms/1o6PHUs">http://1drv.ms/1o6PHUs</a><o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>micROS RT 0.14beta, based on ROS Indigo, 32bit binary distribution:<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><a href="http://1drv.ms/1rGOSGO">http://1drv.ms/1rGOSGO</a><o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>micROS RT 0.14beta, based on ROS Indigo, 64bit binary distribution:<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><a href="http://1drv.ms/1rGPo7H">http://1drv.ms/1rGPo7H</a><o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>micROS RT, source code distribution<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>Comming soon...<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>We have preliminarily tested this version by the official roscpp_tutorials package, the turtle_sim package, the turtle_tf package and some real ROS applications. However, this version is still just for evaluation and collecting feedback. We would really appreciate any feedback you can give us!<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>You can contact us through mail address: <a href="mailto:bding@msn.com">bding@msn.com</a> or <a href="mailto:dingbo@nudt.edu.cn">dingbo@nudt.edu.cn</a> . Our website: <a href="http://micros.nudt.edu.cn/">http://micros.nudt.edu.cn/</a> (in Chinese)<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><o:p> </o:p></span></p><p class=MsoPlainText><span lang=EN-US>Features:<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>(1) Using DDS to deliver ROS messages. DDS is a mature middleware standard which aims to enable<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US> scalable, QoS-assuring, dependable, high-performance data exchanges.<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>(2) Existing ROS applications need no modification. Only replace a .so file in ROS installation directory.<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>(3) Providing extra APIs to set message delivery QoS (not provided in this version).<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>(4) Interoperable with the official ROS core by protocol negotiation.<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>(5) Preferred protocol (DDS, TCPROS or UDPROS) of a topic can be specified. <o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>Installation guides:<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>(1) Installing OpenSplice DDS 6.4 community version (http://www.prismtech.com/opensplice/opensplice-dds-community).<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>(2) Please ensure that the DDS environment variables have been set correctly. Usually, you can achieve this goal by simply running "source %DDSInstallationPath%/release.com".<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>(3) Download libroscpp.so from the above links according to your platform and your current ROS version.<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>(4) Replace the libroscpp.so in the ROS directory with the file you downloaded.<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>Known issues:<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>(1) If you have callback functions in your program to get the notification of subscriber status changes (connected and disconnected), those callback functions will not be invoked when using DDS as the message delivery mechanism. We'll solve this problem in the future.<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US><o:p> </o:p></span></p><p class=MsoPlainText><span lang=EN-US>Thanks,<o:p></o:p></span></p><p class=MsoPlainText><span lang=EN-US>Bo Ding<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US>micROS Team<o:p></o:p></span></p></div></body></html>