C-ROS
2023Built an inter-process communication (IPC) library in C that replicates the core of ROS.
<200μs latency
Under the hood
At Project MANAS, I used ROS to pass messages between modules. As a curious experiment, I built an equivalent of its pub-sub messaging from scratch.
How it works
The library is written in raw C, over TCP, with no outside libraries. A master node keeps track of topics, and nodes publish or subscribe to them. It supports the patterns of a typical middleware architecture, including one-to-one, one-to-many and many-to-one setups.
Result
Messages moved between nodes in under 200μs.
I learned…
what ROS was quietly handling for me.