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Can Ardent nodes talk to Bouncy nodes?

asked 2018-08-16 18:30:29 -0600

calvertdw gravatar image

According to the release notes for Bouncy and observed behavior, it does not use partitions anymore for namespaces.

From :

The ROS topic names containing namespaces are mapped to DDS topics including their namespaces. DDS partitions are not being used anymore for this.

Is there any backwards compatibility?

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My experiments with docker ardent-basic and bouncy-basic fail, but bouncy-basic containers can talk to each other.

calvertdw gravatar image calvertdw  ( 2018-08-16 18:31:43 -0600 )edit

Do you have a specific use case why you need to mix both releases? If there anything which works for you with the Ardent release but not for the Bouncy release? Otherwise you should be able to just move forward to Bouncy.

Dirk Thomas gravatar image Dirk Thomas  ( 2018-08-17 00:19:42 -0600 )edit

Bouncy does not work on 16.04 and we have robots on both 16.04 and 18.04. This is a problem because it is hard to switch between bouncy and ardent on our development computers. The robots on 16.04 require "certified" software (i.e. slow moving code with little to no maintenance personnel)

calvertdw gravatar image calvertdw  ( 2018-08-20 10:20:03 -0600 )edit

From the Bouncy release page, building Bouncy from source on 16.04 is supported, but binary packages aren't being provided.

mjcarroll gravatar image mjcarroll  ( 2018-08-20 10:27:39 -0600 )edit

@calvertdw can you provide more details about what bouncy nodes dont work for you in Xenial?

AFAIK all bouncy ROS 2 packages work on both platforms. The few exceptions are: cartographer and cv_bridge. A xenial build of the bouncy release is available at ...

marguedas gravatar image marguedas  ( 2018-08-20 11:57:51 -0600 )edit

I missed that bouncy was supported on 16.04, so I did not have any nodes that weren't working. Thank you.

calvertdw gravatar image calvertdw  ( 2018-08-20 14:58:08 -0600 )edit

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answered 2018-08-17 00:19:43 -0600

Dirk Thomas gravatar image

If the topic name doesn't contain a namespace it should be compatible between Ardent and Bouncy.

If the topic name does contain a namespace it won't be compatible between Ardent and Bouncy (assuming the RMW impl. in Ardent was mapping the namespace to a DDS partition which was e.g. the case for the default RMW impl. FastRTPS). Technically in this case the protocol is different and there not compatible.

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Asked: 2018-08-16 18:30:29 -0600

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Last updated: Aug 17 '18