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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=MsoNormal><span lang=EN-US>Hi everyone!<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US>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></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US>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></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US>The features of micROS RT include:<o:p></o:p></span></p><p class=MsoListParagraph style='margin-left:18.0pt;text-indent:-18.0pt;mso-list:l0 level1 lfo2'><![if !supportLists]><span lang=EN-US><span style='mso-list:Ignore'>(1)<span style='font:7.0pt "Times New Roman"'> </span></span></span><![endif]><span lang=EN-US>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></span></p><p class=MsoListParagraph style='margin-left:18.0pt;text-indent:-18.0pt;mso-list:l0 level1 lfo2'><![if !supportLists]><span lang=EN-US><span style='mso-list:Ignore'>(2)<span style='font:7.0pt "Times New Roman"'> </span></span></span><![endif]><span lang=EN-US>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></span></p><p class=MsoListParagraph style='margin-left:18.0pt;text-indent:-18.0pt;mso-list:l0 level1 lfo2'><![if !supportLists]><span lang=EN-US><span style='mso-list:Ignore'>(3)<span style='font:7.0pt "Times New Roman"'> </span></span></span><![endif]><span lang=EN-US>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></span></p><p class=MsoListParagraph style='margin-left:18.0pt;text-indent:-18.0pt;mso-list:l0 level1 lfo2'><![if !supportLists]><span lang=EN-US><span style='mso-list:Ignore'>(4)<span style='font:7.0pt "Times New Roman"'> </span></span></span><![endif]><span lang=EN-US>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></span></p><p class=MsoListParagraph style='margin-left:18.0pt;text-indent:-18.0pt;mso-list:l0 level1 lfo2'><![if !supportLists]><span lang=EN-US><span style='mso-list:Ignore'>(5)<span style='font:7.0pt "Times New Roman"'> </span></span></span><![endif]><span lang=EN-US>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></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US>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></span></p><p class=MsoNormal><span lang=EN-US>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></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US>Regards,<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US>Bo Ding<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US><o:p> </o:p></span></p><p class=MsoNormal><span lang=EN-US>----<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US>Dr. Bo Ding<o:p></o:p></span></p><p class=MsoNormal><span lang=EN-US>micROS team, NUDT, China<o:p></o:p></span></p></div></body></html>