Robotics Service Bus

h1. Meetings2011-06-30

{{>toc}}

h2. Use-case Analysis Presentations

* Stefan

** Spread cross-compiling does not work well

** RSC more fine-grained because one single library to load wastes memory

*** build all smaller libs with one CMake but configure via options what is required

** Make tests and spread binary finding optional in RSB

** How to map CAN messages to RSB messages (Shadow Hand uses a more complicated protocol than Stefan's robot)

** Performance requirements:

*** 1 Mbit on the CAN bus

*** Marshaling could waste CPU

** Robert and Stefan will further discuss what is required to build a more or less generic CAN to RSB bridge

* Florian

** Sending and receiving in a gstreamer pipeline using RSB

** Audio missing

** Overview about available classes

** nearly easier than XCF

* Christoph

** high-level data, IPC

*** how to use or define common types for this (type-safety vs. flexibility)

**** Frederic: e.g. starting from BTL and ROS messages

**** make a publicly available repository that is visible

*** migration path from XCF

** video

*** for one computer there's a shared memory solution existing (later to be ported)

*** common types for images as protocol

**** support compression (e.g. run-length coding)

*** avoid extensions to this type(?)

* Robert

** using pbuf code not in whole app, how to convert to real domain types?

*** 2-step procedure

**** protobuf - network, centrally shared to provide compatibility

**** protobuf - domain, several ways because several domain objects with different dependencies, really centrally shared? - dependency hell?

*** fast decision required

* Johannes/Jan

** Conditional Sending (see above)

*** Problem statement and requirements

*** Implementation Plan

** Inter-Segment Communication

*** Clarification

*** Documentation: wiki page

h2. Additional Topics

* Client/Server Communication

* Inprocess and Shmem Communication

* SynchronizedQueue:tryPop() -> bug report

* XCF Migration

** Translation between XML and protobuf?

*** XML less desired

*** automatic translation based on XML schema could be a solution

*** protobuf probably suitable to represent all existing concepts like XML

** CTU compatibility layer

** Active Memory

h2. Outlook: Next Meeting(s)

* Thies

* Hendrik / Ramin