I thought of building a better ROS alternative at one point !! Would take good amount of effort but lets see
lakshays 4 hours ago [-]
It is some work to be sure haha, what would you have built? Always love to hear people's wishlists. Try the quickstart and lmk what we missed?
leetrout 24 hours ago [-]
I hate ROS so much. Such a misguided effort given what we have with both common / existing and modern dev tooling. Sorry I don't use it now only because I can't test your replacement.
Good luck! Excited to see more stuff like this coming.
lakshays 24 hours ago [-]
Thanks! Tell me about it… btw you don’t need to have a ROS stack to try Cerulion! Try giving the quickstart prompt to your agent and lmk if something breaks :)
ayazhan 23 hours ago [-]
[dead]
noxs 22 hours ago [-]
I hate ROS so much as well:
- Robot Operating System - it is not even an operating system
- ROS Node - okay a process/thread that runs the application logic (but why name it as node? it is a service)
for ROS Node to talking to another ROS Node:
- I need a ROS topic
- I need a ROS Message
- in C++ I need rclcpp that is a C++ client
- which then uses rcl which is a C implementation
- it goes through a ROS Middleware (rmw) that is an abstract DDS (hey what is DDS)
- now you have many implementation choices, FastDDS, Cycloe DDS etc. which one should I pick?
- finally it would make some syscall
oh you want to build this with your application?
- use some weird command line called ros2 pkg create
- you need to use ament_cmake (what the heck is this?)
- and yet another tool called colcon to build the package
lakshays 22 hours ago [-]
I feel you! Too many seams, no sane defaults, and inefficiencies by design. We ended up keeping the nomenclature and message types due to entrenched design patterns. But we've tried to cut boilerplate and not gate performance deep behind nested docs pages. The tutorial graph is dead simple to set up and runs faster than the most optimized ROS2 code by orders of magnitude! And we've tried to bring this same performance to legacy ROS2 stacks as well :)
elBoberido 5 hours ago [-]
Did you check out iceoryx2? (full disclosure: I'm one of the maintainer ... and don't take me too serious)
- one 'O' but no 'S' in the name, therefore no claims for an OS ;)
- okay, it also has a Node but it runs no logic
- we call a Topic a Service since it defines the service ... but also does not run the application logic; actually there are no background threads to run the application logic, it's your decision to spawn a thread or not, not ours
- we need a Sample instead of a Message but it is up to you to decide what is in there; raw bytes, an actual struct, FlatBuffers or anything else (... as long as it is shared memory compatible); you decide
- with C++ you also have a C library as dependency, which is implemented in Rust ... yikes ... on the pro side, it's implemented Rust ;)
- no middleware layer like DDS is involved; it is the middleware layer
- just one implementation ... well, under the hood everything can be replaced by just implementing a trait on a struct but technically it is still just one implementation ;)
- no syscalls on the data delivery path, only when you really want to explicitly use a Notifier to notify another process which is waiting on a Listener
- we have a iox2 command but it is not used for building anything, just for introspection
- just plain cmake, no ament ... if you like also bazel ... but well, one needs to be into it ;)
- okay okay, cargo is also needed but it is invoked from cmake so you do not have to touch it
lakshays 3 hours ago [-]
I love this lmao. Huge fan of iceoryx2, guess what Cerulion's transport layer is! We added the quality of life layers above it: deterministic scheduler feeding replay, automatic pairing of robots, zero copy event-based logging and a touch of syntactic sugar.
1 days ago [-]
Rendered at 00:24:26 GMT+0000 (Coordinated Universal Time) with Vercel.
Good luck! Excited to see more stuff like this coming.
- Robot Operating System - it is not even an operating system
- ROS Node - okay a process/thread that runs the application logic (but why name it as node? it is a service)
for ROS Node to talking to another ROS Node:
- I need a ROS topic
- I need a ROS Message
- in C++ I need rclcpp that is a C++ client
- which then uses rcl which is a C implementation
- it goes through a ROS Middleware (rmw) that is an abstract DDS (hey what is DDS)
- now you have many implementation choices, FastDDS, Cycloe DDS etc. which one should I pick?
- finally it would make some syscall
oh you want to build this with your application?
- use some weird command line called ros2 pkg create
- you need to use ament_cmake (what the heck is this?)
- and yet another tool called colcon to build the package
- one 'O' but no 'S' in the name, therefore no claims for an OS ;)
- okay, it also has a Node but it runs no logic
- we call a Topic a Service since it defines the service ... but also does not run the application logic; actually there are no background threads to run the application logic, it's your decision to spawn a thread or not, not ours
- we need a Sample instead of a Message but it is up to you to decide what is in there; raw bytes, an actual struct, FlatBuffers or anything else (... as long as it is shared memory compatible); you decide
- with C++ you also have a C library as dependency, which is implemented in Rust ... yikes ... on the pro side, it's implemented Rust ;)
- no middleware layer like DDS is involved; it is the middleware layer
- just one implementation ... well, under the hood everything can be replaced by just implementing a trait on a struct but technically it is still just one implementation ;)
- no syscalls on the data delivery path, only when you really want to explicitly use a Notifier to notify another process which is waiting on a Listener
- we have a iox2 command but it is not used for building anything, just for introspection
- just plain cmake, no ament ... if you like also bazel ... but well, one needs to be into it ;)
- okay okay, cargo is also needed but it is invoked from cmake so you do not have to touch it