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<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D">+1….seems like an easy way to get DDS into ROS sooner rather than later. Thanks for sharing!<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"><o:p> </o:p></span></p>
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<p class="MsoNormal" align="left" style="text-align:left"><span style="font-size:11.0pt;color:#1F497D">Shaun Edwards<o:p></o:p></span></p>
<p class="MsoNormal" align="left" style="text-align:left"><span style="font-size:11.0pt;color:#1F497D">Senior Research Engineer<o:p></o:p></span></p>
<p class="MsoNormal" align="left" style="text-align:left"><span style="font-size:11.0pt;color:#1F497D">Manufacturing System Department<o:p></o:p></span></p>
<p class="MsoNormal" align="left" style="text-align:left"><span style="font-size:11.0pt;color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal" align="left" style="text-align:left"><span style="font-size:11.0pt;color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal" align="left" style="text-align:left"><span style="font-size:11.0pt;color:#1F497D"><a href="http://robotics.swri.org"><span style="color:blue">http://robotics.swri.org</span></a><o:p></o:p></span></p>
<p class="MsoNormal" align="left" style="text-align:left"><span style="font-size:11.0pt;color:#1F497D"><a href="http://rosindustrial.swri.org/"><span style="color:blue">http://rosindustrial.swri.org/</span></a><o:p></o:p></span></p>
<p class="MsoNormal" align="left" style="text-align:left"><span style="font-size:11.0pt;color:#1F497D"><a href="http://ros.swri.org/"><span style="color:blue">http://ros.swri.org</span></a><o:p></o:p></span></p>
<p class="MsoNormal" align="left" style="text-align:left"><span style="font-size:11.0pt;color:#1F497D"><a href="https://groups.google.com/group/swri-ros-pkg-dev/boxsubscribe"><span style="color:blue">Join the ROS-Industrial Developers List</span></a><o:p></o:p></span></p>
<p class="MsoNormal" align="left" style="text-align:left"><span style="font-size:11.0pt;color:#1F497D">Southwest Research Institute<o:p></o:p></span></p>
<p class="MsoNormal" align="left" style="text-align:left"><span style="font-size:11.0pt;color:#1F497D">210-522-3277<o:p></o:p></span></p>
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<p class="MsoNormal"><span style="font-size:11.0pt;color:#1F497D"><o:p> </o:p></span></p>
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<p class="MsoNormal" align="left" style="text-align:left"><b><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif"">From:</span></b><span style="font-size:10.0pt;font-family:"Tahoma","sans-serif""> ros-users [mailto:ros-users-bounces@lists.ros.org]
<b>On Behalf Of </b>dingbo<br>
<b>Sent:</b> Wednesday, September 24, 2014 12:02 PM<br>
<b>To:</b> ros-users@lists.ros.org<br>
<b>Subject:</b> [ros-users] New version of micROS RT (an implementation of ROS 1.x on DDS) and its source code available<o:p></o:p></span></p>
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<p class="MsoNormal" align="left" style="text-align:left"><o:p> </o:p></p>
<p class="MsoNormal">Hi everyone!<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">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.
<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">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.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">The features of micROS RT include:<o:p></o:p></p>
<p class="MsoListParagraph" style="margin-left:.25in;text-indent:-.25in">(1)<span style="font-size:7.0pt;font-family:"Times New Roman","serif"">
</span>Built-in multicast support. Significant performance advantage can be obtained when there are n subscribers in a ROS topic (n>=2).<o:p></o:p></p>
<p class="MsoListParagraph" style="margin-left:.25in;text-indent:-.25in">(2)<span style="font-size:7.0pt;font-family:"Times New Roman","serif"">
</span>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.<o:p></o:p></p>
<p class="MsoListParagraph" style="margin-left:.25in;text-indent:-.25in">(3)<span style="font-size:7.0pt;font-family:"Times New Roman","serif"">
</span>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.<o:p></o:p></p>
<p class="MsoListParagraph" style="margin-left:.25in;text-indent:-.25in">(4)<span style="font-size:7.0pt;font-family:"Times New Roman","serif"">
</span>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.<o:p></o:p></p>
<p class="MsoListParagraph" style="margin-left:.25in;text-indent:-.25in">(5)<span style="font-size:7.0pt;font-family:"Times New Roman","serif"">
</span>Interoperable with the official ROS kernel. micROS RT can smartly choose the underlying message delivery protocol in virtue of the protocol negotiation mechanism.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">In contrast with the early prototype we released three weeks ago(<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>), this version provide
complete message QoS setting APIs. And some preliminary tests have been performed.<o:p></o:p></p>
<p class="MsoNormal">The binary package, source code, the user’s guide and more information can be found at
<a href="http://cyberdb.github.io/micROS-RT/">http://cyberdb.github.io/micROS-RT/</a>. We would be grateful if you can try it out and any feedback would be greatly appreciated.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Regards,<o:p></o:p></p>
<p class="MsoNormal">Bo Ding<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">----<o:p></o:p></p>
<p class="MsoNormal">Dr. Bo Ding<o:p></o:p></p>
<p class="MsoNormal">micROS team, NUDT, China<o:p></o:p></p>
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