yep, that is what I understood as well.
Still, OPC UA Pub/Sub supports “broke-less” via udp multicast
DDS supports both brokered(FastDDS discovery server) and decentralized(traditional broadcast) discovery service.
To be clear, as far as I understand this is not brokered. This is a centralized discovery service; that is, participants contact the discovery server to find out about peers, but then connections are peer-to-peer. This is similar in concept to ROS 1, and to what we are thinking about for Zenoh.
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Just started running Zenoh and pretty impressed with it so far. The turtlebot3 demo works over the internet when you run AWS routers… Pretty cool stuff.
Have you used a rmw_zenoh implementation? I am also interested to try and see how the stack scales for our usecase.
Just started running Zenoh and pretty impressed with it so far. The turtlebot3 demo works over the internet when you run AWS routers… Pretty cool stuff.
Nice to read this! Thanks @ross-newman ! 
Have you used a
rmw_zenohimplementation? I am also interested to try and see how the stack scales for our usecase.
@Guillaume_Autran : rmw_zenoh doesn’t exist yet, but should be available for Jazzy Jalisco (May 2024)
Awesome. Please let me know if you need a hand with it…
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