Concert Framework/Communications Protocol
The inter-client communications layer is initially based on the ROS transport and serialisation libraries. The current transport and serialisation libraries however have some drawbacks when applied to a networked solution (particularly with regards to wireless communications). This was weighed against the advantages though
- The rapid uptake of its messaging system and types by the robotics community validate it practical usefulness.
- It will undergo a revision (ROS 2.0) over the next two years with a focus on standardisation, cross-platform and robustness for which we can provide useful input into the design.
Given this we decided to avoid the potentially significant effort involved in integrating and adapting a complete communications subsystem in favour of supporting the next rollout of the ROS transport and serialisation libraries for which there is already an established use case and community.