Robotics Service Bus

h1. Meetings2011-06-27

h2. Cross-Compilation for an ARM-core

* OMAP3 processor (made by TI)

h2. Scenario

* Mobile Robot

* CAN-Bus -> Ethernet gateway

* CAN-Messages

** ID + 8 byte payload

* Virtual CAN-Bus

** Socket-interface to simulated CAN-Bus (in Linux)

** For simulation purposes (until read hardware becomes available)

* Use-cases

** Transmitting infrared sensor readouts "out of" robots

** Pub/Sub on CAN-Bus level

h2. RSB Discussion

* Mapping of RSB channel designators to Spread groups

** MD5-hash

* TODO visualization of channel hierarchy

h2. Avoiding Sending of Events when there is no Receiver

* The relevant use case is disabling and enabling computations based on presence of consumers

* A callback interface for the "receiver appeared/disappeared" events would be sufficient

* Event-based notification about receivers (no additional callbacks)

** Probably in the Participant base-class

** Handler-infrastructure should be used to discriminate data vs. meta-data events

* Logging and introspection could be a problem for this (since a logger on "/" may trigger lots of stuff)

h2. Deployment

* Node configuration changes dynamically

* Is Spread's configuration mechanism a problem? probably not

* Scenario could scale up to 64 nodes

* Plug and play would be useful in some use cases

** E.g. non-expert users

** But Spread may be a bit of a problem here

** Initial approach: find a working network configuration that works well with Spread

** Later: maybe without Spread