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

[Greg Burns]

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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