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Hello, Is there a complete documentation for the ROS communication protocol anywhere? (especially explaining the buildup of the XMLrpc messages)

I want to write a very slim ROS independent node in C for it, which does not use any ROS library.

Do I need XML for the Master or is there another simpler possibility of publishing or subscribing topics?

Regards,

Cyborg-X1


Originally posted by cyborg-x1 on ROS Answers with karma: 1376 on 2012-09-03

Post score: 2

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I guess the conceptual overview wiki page is a good starting point. The master xmlrpc API and slave xmlrpc API and parameter xmlrpc API pages should provide a hopefully complete list of xmlrpc functions that are implemented by the core and that must be implemented (slave api) by a node.

For setting up subscriptions and publications and accessing parameters, xmlrpc will be required. The actual communication on the topics then uses a different binary format. Have a look at the msg wiki page for at least some information. For a really generic implementation of ros in C, you will have to implement a message generator that translates msg files to c files that contain code for serializing and deserializing that message. The serialized message format is actually pretty simple. Best if you have a look at the generated files for C++ or Python to find out more information.


Originally posted by Lorenz with karma: 22731 on 2012-09-03

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by cyborg-x1 on 2012-09-03:
Is there a documentation for the direct XML format like below (captured by wireshark):

1 Unregistered [/listener] as provider of [/rosout] 1...

Comment by Lorenz on 2012-09-03:
Well, that's just normal xmlrpc. Google shows this as first hit.

Comment by cyborg-x1 on 2012-09-03:
Oh, ok, thought that is done by ros, because somewhere in the text it says it was "heavily" changed.

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