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ROS Transports

The `ROS`_ :term:`transport` enables some communication between |project| :term:`participants <participant>` and `ROS`_ nodes.

The `ROS`_ :term:`transport` for |project| maps the following URI schemas to ROS network protocols:

tcp+ros (See :ref:`specification-tcpros`)

Direct connections to the TCP endpoints of `ROS`_ nodes.

ros (See :ref:`specification-ros`)

Connections to `ROS`_ nodes are made via the `ROS`_ master.

TCP+ROS Transport (without Master Lookup)

Direct connections to the TCP endpoints of `ROS`_ nodes. This low-level protocol requires knowing the hostname and TCP port of a `ROS`_ node. Knowing the node name and/or topic is not sufficient on this level.

Note

This schema is supported in the Python and Common Lisp implementations of |project|.

Schema

.. seealso::

   :ref:`specification-uris`
     Use of URIs in |project|.

This :term:`transport` uses the tcp+ros URI schema.

Options

The following :ref:`configuration` options are accepted:

Name        Type   Comment
+ transport
+-- tcp+ros
+---- host  string Hostname on which endpoint runs
+---- port  uint16 Port on which entpoint listens

Implementations

Language File(s)
C++ not implemented yet
Java not implemented yet
Python not implemented yet
Common Lisp |repository_versioned_ros_cl| src/transport/tcpros

ROS Transport (with Master Lookup)

Connections to `ROS`_ nodes are made and accepted via the `ROS`_ master. That is the `ROS`_ master is consulted to determine the endpoint for a given topic. After that, a low-level connection is established, if one of the `ROS`_ transports offered by the endpoint is supported.

For this schema, nameservice queries which yield multiple results or change over time can lead to a changing set of connections. For example, the URL ros:/foo could causes connections to be established to nodes publishing the topics /foo/bar and /foo/baz.

Note

This schema is only supported in the Common Lisp implementation of |project|.

Schema

.. seealso::

   :ref:`specification-uris`
     Use of URIs in |project|.

This :term:`transport` uses the ros URI schema.

Options

The following :ref:`configuration` options are accepted:

Name        Type   Comment
+ transport
+-- ros
+---- host  string Hostname on which the ROS master runs
+---- port  uint16 Port on which the ROS master listens

Implementations

Language File(s)
C++ not implemented yet
Java not implemented yet
Python not implemented yet
Common Lisp |repository_versioned_ros_cl| src/transport/ros

Bus Semantics

TODO

Limitations

TODO