🤖📦🐍 Ever wish you could simply "pip install" ROS like any other Python package? With my latest project ros-python-wheels, ROS 2 packages can now be built into self-contained Python wheels that are installable by Pip! This enable a first-class developer experience when working with ROS in Python projects: 🚀 𝗘𝗮𝘀𝘆 𝗣𝗿𝗼𝗷𝗲𝗰𝘁 𝗜𝗻𝘁𝗲𝗴𝗿𝗮𝘁𝗶𝗼𝗻: To include The ROS Python Client (rclpy) in a Python project, simply add "ros-rclpy[fastrtps]" (and its package repository) to your pyproject.toml or requirements.txt file. 🛠️ 𝗘𝗻𝗮𝗯𝗹𝗲 𝗠𝗼𝗱𝗲𝗿𝗻 𝗣𝘆𝘁𝗵𝗼𝗻 𝗧𝗼𝗼𝗹𝗶𝗻𝗴: Easily manage Python ROS dependencies using modern Python tools like uv and Poetry 🪶 𝗟𝗶𝗴𝗵𝘁𝘄𝗲𝗶𝗴𝗵𝘁: The wheels of rclpy and all of its dependencies have a total size of 15MB. 🌍 𝗣𝗼𝗿𝘁𝗮𝗯𝗹𝗲: Allows ROS to be run on different Linux distributions rclpy and common message interfaces have been packaged and hosted at Python package repositories for every ROS distribution at @cloudsmith ➡️ Project Link: github.com/ycheng517/ros-pyt… I’d love to hear your thoughts on this approach. I’d also appreciate a star on my project if you think this is a good direction for ROS! @OpenRoboticsOrg #ros #robotics

なんかROS2でLAN上のPC間の通信をしようとしたら起動時めっちゃ遅い(おそらくDDSの接続時間？)から何とかしたい 安定すると全然問題ないんだけど FastRTPSつかってます

fastrtpsじゃないとうごかないっぽい

Well that's a new one: Under ROS 2 Jazzy, I'm having issues with CycloneDDS that aren't occurring using FastRTPS... I guess it's probably no longer as well tested by the core team. RMW Zenoh can't come soon enough

これでFastRTPS動くのかな👀 定期的にメンテされている感はあるけど👀👀👀 github.com/DimaRU/FastRTPSSw…

fastrtpsのcmakelistに export(TARGETS fastcdr FILE "${CMAKE_BINARY_DIR}/fastcdrTargets.cmake") しないとソースビルドできなかった。なぜ？？

RMWをFastRTPSにしたら動いたな...

ROS2，FastRTPSからCycloneDDSに変えるとマルチスレッド時のサービス応答速度上がるの謎すぎる 動いたので良し!

よくよく考えてみたらここら辺のdistroではgalacticだけデフォルトDDSがcyclone,残りはfastrptsであることに気がついて実はこれが原因じゃないかと推測立てて見てgalacticでfastrtpsに差し替えて見たら動いたのであ、これほぼcycloneddsとの相性悪いで間違いなさそうとなってるのが今です

sudo apt install ros-galactic-rmw-fastrtps-cpp export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

fastrtpsはよ

fastrtpsのScanning、全然fastじゃなくてワロタね（違う）

ROS2 Chatter (DDS by FastRTPS) communicates with each other using the Kubernetes cluster network. (Use "Weave Net". It's not "hostNetwork: true"!) Reference: discourse.ros.org/t/robotics… #ROS2 #Kubernetes

Latency Overhead of ROS2 for Modular Time-Critical Systems[arXiv '21] 今年始めての21年の論文読んだ．CycloneDDS,FastRTPS,Connextそれぞれを使用した際のROS2のe2eレイテンシを計測．レイテンシの観点では，CycloneDDSはいい感じの性能だが，Connextは厳しい印象．arxiv.org/pdf/2101.02074.pdf

fastrtpsで共有メモリ転送入ったみたいだし、ネイティブで喋らせた時のスピードに勝てる実装ないでしょというお気持ち

FIWARE: RT @EProsima: Click and watch 👀 again @auterion awesome talk over #ROSWorld 2020! Honored to be mentioned with #FastRTPS #FastDDS #microROS in relation with #PX4 interface Go-to 👉 buff.ly/2Ke2ETZ (Minute 59:54) #ROS #ROS2 #goROS

Click and watch 👀 again @auterion awesome talk over #ROSWorld 2020! Honored to be mentioned with #FastRTPS #FastDDS #microROS in relation with #PX4 interface Go-to 👉 buff.ly/2Ke2ETZ (Minute 59:54) #ROS #ROS2 #goROS

🌼 Learn how to leverage the PX4 #FastRTPS interface to control the autopilot's internal components like never before using #ROS2 at this year's #ROSWorld with @NunoMiguelMarq3 from @auterion. 💡 Register here: bit.ly/2JAL0t0

ROS2のDDS実装は色々あるのですが、代表的なものがeProsimaのFastRTPSベースのコードなので、こちらをご覧になると実体がつかみやすいかと思います。 github.com/eProsima/Fast-DDS

eProsima - Premium Member of the #Autoware Foundation We are proud to join this important autonomous driving project offering support with our knowledge as DDS middleware experts and our implementation #FastDDS. For more information: buff.ly/2YAdJTq #ROS #FastRTPS