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Package Summary
A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.
- Author: Maintained by Stuart Glaser
- License: BSD,Mozilla Public License Version 1.1
- Source: hg https://kforge.ros.org/common/bondcore (branch: default)
Package Summary
A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.
- Author: Maintained by Stuart Glaser
- License: BSD,Mozilla Public License Version 1.1
- Source: hg https://kforge.ros.org/common/bondcore (branch: default)
Package Summary
A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.
- Maintainer: Esteve Fernandez <esteve AT osrfoundation DOT org>
- Author: Stu Glaser
- License: BSD
- Bug / feature tracker: https://github.com/ros/bond_core/issues
- Source: git https://github.com/ros/bond_core.git (branch: master)
Package Summary
A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.
- Maintainer status: maintained
- Maintainer: Esteve Fernandez <esteve AT osrfoundation DOT org>
- Author: Stu Glaser
- License: BSD
- Bug / feature tracker: https://github.com/ros/bond_core/issues
- Source: git https://github.com/ros/bond_core.git (branch: master)
Package Summary
A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.
- Maintainer status: maintained
- Maintainer: Michael Carroll <michael AT openrobotics DOT org>
- Author: Stu Glaser
- License: BSD
- Bug / feature tracker: https://github.com/ros/bond_core/issues
- Source: git https://github.com/ros/bond_core.git (branch: groovy-devel)
Package Summary
A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.
- Maintainer status: maintained
- Maintainer: Mikael Arguedas <mikael AT osrfoundation DOT org>
- Author: Stu Glaser
- License: BSD
- Bug / feature tracker: https://github.com/ros/bond_core/issues
- Source: git https://github.com/ros/bond_core.git (branch: groovy-devel)
Package Summary
A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.
- Maintainer status: maintained
- Maintainer: Michael Carroll <michael AT openrobotics DOT org>
- Author: Stu Glaser
- License: BSD
- Bug / feature tracker: https://github.com/ros/bond_core/issues
- Source: git https://github.com/ros/bond_core.git (branch: kinetic-devel)
Package Summary
A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.
- Maintainer status: maintained
- Maintainer: Michael Carroll <michael AT openrobotics DOT org>
- Author: Stu Glaser
- License: BSD
- Bug / feature tracker: https://github.com/ros/bond_core/issues
- Source: git https://github.com/ros/bond_core.git (branch: kinetic-devel)
Package Summary
A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.
- Maintainer status: maintained
- Maintainer: Michael Carroll <michael AT openrobotics DOT org>
- Author: Stu Glaser
- License: BSD
- Bug / feature tracker: https://github.com/ros/bond_core/issues
- Source: git https://github.com/ros/bond_core.git (branch: kinetic-devel)
Package Summary
A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing. The bond remains connected until it is either broken explicitly or until a heartbeat times out.
- Maintainer status: maintained
- Maintainer: Michael Carroll <michael AT openrobotics DOT org>
- Author: Stu Glaser
- License: BSD
- Bug / feature tracker: https://github.com/ros/bond_core/issues
- Source: git https://github.com/ros/bond_core.git (branch: kinetic-devel)
Groovy and above, the source is at: git https://github.com/ros/bond_core
Documentation
New in Electric: the bond packages are now part of bond_core. In previous releases, they were part of common.
Libraries
Bond is implemented in the following languages:
Motivation
Bond exists to ensure that two processes can monitor each other's termination. This is useful in several situations.
Spawning nodelets/controllers/robots in gazebo
When spawning a nodelet (or anything else), two processes, the spawner and the container, communicate to bring the nodelet up, however, the current system does not cleanly deal with all termination possibilities (<<Ticket(ros-pkg 4221)>>). Creating a bond between the spawner and the container allows each to know when the other crashes and to implement appropriate recovery behaviors.
This applies to controllers (re-loading when the realtime_loop goes down) and to gazebo (re-creating the robot if gazebo crashes).
Resource ownership
Bonds can be used to track resource ownership. The creation of a bond indicates a lease on the resource, and breaking a bond indicates that the lease is broken.
You could, for example, request that the laser scan at a particular frequency. By passing a bond id along with the request, the laser scanner controller will form a bond based on the request. When it receives a new request, it breaks the bond. Whether the laser controller receives a new request or the controller crashes, you will be informed that the laser is no longer scanning as you desired.
Report a Bug
<<TracLink(ros-pkg common)>>
Groovy and above, please use the infrastructure at: https://github.com/ros/bond_core
