Does dora currently provide a demo of multi-device cross-network communication?

[baoliete]

No description provided.

[haixuanTao]

Unfortunatly, we don't. There is currently a missing feature required to fully support distributed dora:

• distributed codebase as we expect the code to exist on the distributed machine, which is not obvious. This also means that whenever a change happen on any part of the codebase it is reflected everywhere.

This part is still unclear to us, but we're open for discussion.

Do you have any use case in mind?

[heyong4725]

Originally Dora uses Zenoh as communication middleware, which can enable Dora to support multi-device cross-network communications. Most recent use cases are focused on local device, such that shared memory is the main communication middleware. With ROS2 extension, the DDS can be used for multi-device communication (but not for cross network).

[zhuyifengzju]

Hi @heyong4725, do you mean that if we want to use dora for multi-device communication (but assuming within a network), we will need to use the ROS 2 extension? Or is it possible to directly use dora-daemon that bind to the same ip address?

[haixuanTao]

@zhuyifengzju , we're currently working on the multi-device communication, but it is not there yet see: #459 .
We've been primarily focused on one machine and was thinking of bringing very pleasant developers experience within multi-devices. How do we deal with syncing multi-device file system and development. That is why it took a bit of time but is definetely on out todo list.

Obviously without ros2

[zhuyifengzju]

Got it. Look forward to its release!