The wireshark wiki has a surprisingly good write up on the underlying RTPS protocol:
> The Real-Time Publish-Subscribe (RTPS) Wire Protocol provides two main communication models: the publish-subscribe protocol, which transfers data from publishers to subscribers; and the Composite State Transfer (CST) protocol, which transfers state.https://wiki.wireshark.org/Protocols/rtps
ROS docs talk quite a lot a out various vendor implementations of RTPS middleware. But little docs on the protocol. Did a little search but haven't found many truly great in depth resources.
(This post wasn't to say there are great implementers resources! I searched for a while for more specific implementation or Wireshark-centric things, to really explain what was what. Would absolutely adore more technical coverage!)
> The Real-Time Publish-Subscribe (RTPS) Wire Protocol provides two main communication models: the publish-subscribe protocol, which transfers data from publishers to subscribers; and the Composite State Transfer (CST) protocol, which transfers state. https://wiki.wireshark.org/Protocols/rtps
ROS docs talk quite a lot a out various vendor implementations of RTPS middleware. But little docs on the protocol. Did a little search but haven't found many truly great in depth resources.
OpenDDS seems to be the main impl I've stumbled across. Descend docs. https://opendds.readthedocs.io/en/latest-release/devguide/in...