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ROS Communication over UDP

asked 2020-02-29 02:49:33 -0500

tschinz gravatar image

What is the state of the ROS UDP implementation? I would like to implement an FPGA Ros node myself but to implement TCP it will be difficult, UDP is very much preferred because of its simplicity. Are there more detailed information about packet structure and content then https://wiki.ros.org/ROS/UDPROS. Does anyone have a small working example of that?

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answered 2020-02-29 04:10:28 -0500

gvdhoorn gravatar image

updated 2020-02-29 04:11:33 -0500

Afaik no one has worked on UDPROS in recent years.

Support in roscpp is OK-ish. There have been some PRs submitted to ros/ros_comm to fix some issues, but nothing too major.

As for rospy, there is essentially no support (I believe this comment from 2018-08-24 by @Dirk Thomas is still relevant):

I just wanted to note that UDP isn't supported by ROS in Python atm [..]

Note that the UDP transport uses single datagrams for each publication, it does not support sequencing, framing or reassembly. As a consequence, any messages that serialise into a bytestream > MTU will be either truncated or not published at all.

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Asked: 2020-02-29 02:49:33 -0500

Seen: 38 times

Last updated: Feb 29