For what it's worth, CERN's Large Hadron Collider switched from CORBA to ZeroMQ a year or two ago for the industrial control part of the experiment. There is also a large community around Tango (a control system originally for synchtotrons), originally built on CORBA, which is switching/has switched to ZeroMQ: http://www.tango-controls.org/.
Not exactly robotics, yet close. On Mon, Jun 15, 2015 at 9:02 AM, Johan Philips <[email protected]> wrote: > > > On 2015-06-15 02:05, Christoph Mueller wrote: >> Hi folks :) > > Hi Ruuns > >> >> I've worked 4 years in an institute for robotics where CORBA is still a >> big thing for handling a highly-concurrent and distributed dataflow >> network located on different machines/platforms and with a high-spread >> of different implemenation languages (C, C++, Python, Ruby). It was >> often a pain in the ass how the software architecture envolved into >> complexer shape from year to year. >> > > We've been also upset with the growing complexity of CORBA in the past > and frustrated by the fact that most roboticists assume communication is > solved by using ROS, which is far from true! > >> Now i've found your amazing piece of software in the last days and your >> framework have left a fabulous impression on me. Especially the >> documentation seems really great, seems to provide a nice interface to >> complex network stuff and i'm wondering if ZeroMQ could be the modern >> alternative of CORBA for the future. >> > > That was my impression as well when I found this library about a year > ago! The ZGuide is by far the best software documentation I have ever > seen and I also like Pieter's attitude and humor in his writing :) > > >> 1) I would like to ask you if you have any experiences/userstories/works >> where ZeroMQ is currently used in robotics and how does it fit thier >> requirements? I'm just curious how does it perform in such domain :) > > I know of a few, including our group at KU Leuven. At the last > euRobotics Forum in Vienna, I gave an introductory presentation on > ZeroMQ and organised a workshop on communication for robotics. If you > want I can send you some minutes of that workshop. > >> >> 2) I've started for myself a research project on zeromq that should be >> used for an IPC layer (TCP, PF_UNIX) to handle an asynchronous data >> network to connect a webcam process with an independent interface to >> other proccessors (loggers, computer vision detectors, gui >> visualization) I'm intending to use a classical named input/output-port >> architecture with specified messages (by google's protocul buffers) that >> is also known in ROS/Orocos (which also uses data-oriented >> publish/subscribe architecture) >> >> Do you have any hints and handy tips about important topics in ZeroMQ >> which are helpfull in implementing this ideaand >> i could focus in the beginning? That would be awesome. >> > > I have started with ROUTER/DEALER sockets for asynchronous communication > between different robots but have switched now to the Zyre library, > since it provides a lot of the bookkeeping for discovery of peers, > connections to those peers and heartbeating/pinging to check if they are > still in range. > >> >> Hope these questions are not to wide opened for a discussion. >> >> I also want to give the developers my appreciation for this nice >> engineered framework. Looks very solid and developer-friendly :] Keep up >> working it that manner. > > It's nice to hear others in robotics are looking at ZeroMQ as well! > >> >> Best Regards >> Ruuns > > Johan > _______________________________________________ > zeromq-dev mailing list > [email protected] > http://lists.zeromq.org/mailman/listinfo/zeromq-dev _______________________________________________ zeromq-dev mailing list [email protected] http://lists.zeromq.org/mailman/listinfo/zeromq-dev
