Framework Integration¶

ROS Integration¶

Potential Strategies¶

• (Generic) Runtime Bridge with dynamic translation
• Transport-level Integration
  • {TCP,UDP}ROS Connectors for RSB components
  • RSB Transport for ROS
    ROS Client API with RSB backend

Ideas¶

• Naming maintains features sets (which component understands what on which framework)

Integration Challenges and Experiences¶

IDL and Serialization

• Non-standard, but de-facto standard of its own
• Informal description of IDL is available
• But no grammar
• No standalone tools for using the IDL
  • Parsing and code generation are completely entangled in ROS framework code

Component Implementation

• XMLRPC nameserver protocol must be implemented by hand
  • half specified
• Complicated, mandatory state management (subscriber links)
  • creates coupling

YARP Integration¶

Ideas¶

Bottle Serialization Mechanism

• Deserialize into generic Bottle protocol buffers
• Deserialize into port-specific, compatible protocol buffer objects
• Guess port-specific layout and automatically generate compatible protocol buffer descriptor

Integration Challenges and Experiences¶

• Bottle serialization is reasonably documented and implemented
• But: nightmarish communication protocol