The Messaging Working Group exists to evaluate and source middleware solutions for communication between GCS, drone, cloud, ROS, and between processes running on the vehicle. Following evaluation of alternative solutions, the WG selected Eprosima’s Fast RTPS.
The Messaging WG is progressing with its integration of FastRTPS into the platform.
Since the last Messaging WG update:
- Eprosima has been looking into performance issues on the loopback interface.
- Ederson de Souza has been working with others to multiplex the MAVLINK and FastRTPS messages over the UART on Intel Aero and has them working concurrently.
- Mark Charlebois is looking at FastRTPS support on the Linux builds (ARM and x86) and bridging uORB topics.
- Christoph Tobler has been working on adapting the ROS VIO example to use FastRTPS as a proof of concept and sample application.