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Native Network is a beta feature.
A native network allows you to communicate between different ROS environments as described in the following scenarios.
This eliminates the need of creating a separate routed network for the local communication and significantly decreases the latency as the communication doesn’t involve a cloud bridge for individual ROS environments for communication.
In case of native network, all the connected ROS environments can discover each other and the communication happens in a peer-to-peer manner. Each ROS environment has its own ROS master and the rapyuta.io platform uses a sub-component based on FKIE multimaster to achieve it.
When you deploy a native network to the cloud, it is considered as a cloud native network. Any compute resources (CPU/memory) consumed by this routed network deployment count against your cloud deployment hours quota.
When creating a cloud native network, the Resource limit field defines the memory allocation and computational capability of the native network. These resources are reserved in the platform for effective ROS communication. You can choose the resource limit of a native network based on the following requirements.
You can connect your deployments to more than one cloud native networks for redundancy.
For the use case, let’s take an example of 3 ROS packages:
We want to establish communication between these 3 ROS packages. To simplify this communication, you can use a native network that serves as the best medium for communication.
The result is as follows
We can establish this communication by using a cloud routed network. However, using a routed network involves cloud bridge for each ROS environment that adds latency when service/action/topics are being called in the same local area network.
Communication through a native network is happening in a peer-to-peer manner that means the subscriber directly makes TCPROS connection with the publisher thereby eliminating the latency in each hop-on of messages as in the case of a routed network via cloud bridge. This results in low-latency communication.
You can see the list of publishers whitelisted in your package components in your rostopic list command.
Native network is very similar to the local single ROS master environment.
When you subscribe to a topic from a different ROS environment, this subscriber information is kept locally and only shared if a topic is whitelisted in a package component.
Currently supported for cloud runtime only. You can use a routed network instead of a device native network as of now.
for tf topic: if you don’t add tf_prefix, don’t expose the topic as there is a possibility of mixing of tf.
Compression, QOS, and Service Timeout are not applicable in the case of native networks.