rosc alpha released

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From Nikolai Ensslen via ros-users@

Hi all,


in December we released "Subscribing Submarine" an alpha version of rosc, that was announced at last year's ROSCon. For some reason we forgot to mention this here and invite you to review and play around with it. - Hereby I'm catching up on this, and of course also encourage you to join the further development!


rosc is a dependency-free ROS client implementation in ANSI C which aims to support small embedded systems as well as any operating system. Its long-term goal is to become a hardened, efficient and highly portable implementation of the ROS middleware (including future evolutions of it), making it a good choice for use in industrial applications or product development.


Essential features:

  • XMLRPC communication
    • HTTP/XML parser
    • XMLRPC message generator
  • Port interface handling (services, topics, XMLRPC)
  • ROS message (msg-File) header/source generation
  • TCPROS (un-)marshalling

Planned future extensions:

  • Transport layer independency
  • Realtime capability
  • Development debugging features
  • Compiler optimization packages
    • special size optimizations
    • using special pragmas (like pack)
  • Multimaster/masterless concept

You can try out the alpha under Linux now. The code is beyond experimental, but not yet mature enough for critical setups.  


In ROS Wiki, see

Find the code at



Have fun,


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This page contains a single entry by Tully Foote published on February 13, 2014 10:29 AM.

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