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On what factors is the communication protocol selected while establishing a Topic ?

asked 2018-04-16 09:50:11 -0600

aks
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On what factors is the communication protocol selected ? be it TCP or UDP. Are there some other protocols supported as well ?

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answered 2018-04-16 10:36:32 -0600

gvdhoorn
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updated 2018-04-17 02:48:41 -0600

Note: this only answers the question in the context of ROS 1.

On what factors is the communication protocol selected ? be it TCP or UDP

Default is TCP (ie: reliable).

Unless user specifies the unreliable transport hint.

Are there some other protocols supported as well ?

No, not by default.

There are some alternative transports available, but you'd have to install those yourself (they're old, but see ethzasl_message_transport fi).

See also ROS/Technical Overview - Topic Transports.

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@gvdhoorn : Then isnt ROS similar to the ROS2 QoS in respect to the Communication Protocol ? Both can either select reliablity (TCP) or Best Effort (UDP) ?

aks ( 2018-04-18 04:12:13 -0600 )edit

Well .. they're similar like a car is similar to a bike: both have wheels, but I wouldn't say that a bike shares much of the other characteristics of a car.

If you really want to, you could see TCPROS and UDPROS as primitive forms of what DDS can do for you. But I wouldn't do that.

gvdhoorn ( 2018-04-18 04:15:45 -0600 )edit

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Asked: 2018-04-16 09:50:11 -0600

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Last updated: Apr 17 '18

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