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J. Wienke, 06/10/2011 06:18 PM
ROS Comparison¶
Please note: We are comparing RSB against roscore not against ROS!
Functional Differences¶
| Aspect | ROS | RSB | |
Pub/sub Topology | 1:1 | m:n |
| Abstraction | single level | hierarchies | ||||
| Channel Identifier | Topic | Scope | ||||
| Channel Scope | Flat | Hierarchical | ||||
| Origin Filtering | ? | planned | ||||
| Typing | strong | strong-ish | ||||
| IDL | yes, proprietary | optional | ||||
| QoS | implicit | explicit | ||||
| Introspection | strong | implicit by multicast | ||||
| Centralized | yes (master, param server) | no |
| Push-receiver | yes | yes |
| Pull-receiver | ? | yes |
Wishes¶
- We believe in the power of reflection and self-description, such that
- a generic content-based subscription model, e.g., with path-based access such as XPath becomes feasible
- messages can be generally understood by everyone even if parts are not accessible
- RSB shall provide better introspection features, both for programmatic access (e.g., for anomaly detection) but also for developers
- Reduced framework lock-in