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This page summarizes various serialization libraries and their pros and cons.

Status

This is a very old page documenting some of the earlier analyses of available middleware and (de)serialisation libraries and frameworks in the context of ROS 2 development.

This page is kept for archival purposes only. It does not reflect the current state of development of either ROS 1 or ROS 2.

For ROS 2 design documents, please see design.ros2.org. Some of the content of this wiki page was used for the articles ROS on ZeroMQ and Friends and ROS on DDS. Please refer to those articles for design decisions and rationales.

Message formats

Wikipedia also has a page comparing various formats.

There's some comparison of ROS' serialization / deserialization performance against two other robot communication frameworks in this IROS paper.

There are a few notable exceptions in this list, feel free to add them!

rosmsg (ROS 1.x)

http://wiki/msg

License: BSD

Pros

Cons

protobuf

http://code.google.com/p/protobuf/

License: BSD 3-clause.

Also see this thread.

Pros

Cons

msgpack

http://msgpack.org/

License: Apache

Pros

Cons

capnproto

http://kentonv.github.io/capnproto/

License: BSD 2-clause

Pros

Cons

apache thrift

http://thrift.apache.org

License: Apache.

Pros

Cons


2023-10-28 13:04