# \#design **URL:** https://discourse.openrobotics.org/tag/design/30.md [Latest](https://discourse.openrobotics.org/latest.md) · [Categories](https://discourse.openrobotics.org/categories.md) · [Tags](https://discourse.openrobotics.org/tags.md) --- ## [A proposal for a LidarScan sensor message](https://discourse.openrobotics.org/t/a-proposal-for-a-lidarscan-sensor-message/53225)
**Author:** [@Samahu](https://discourse.openrobotics.org/u/Samahu)\ **Replies:** 41\ **Last updated:** [May 27, 2026, 7:56am UTC](https://discourse.openrobotics.org/t/a-proposal-for-a-lidarscan-sensor-message/53225 "2026-05-27T07:56:23Z")
Hello ROS community When working with Lidar data users are usually referred to using PointCloud2 objects that represent the lidar data as a list of 3d points with additional attributes. While this nicely mirrors the PCL… --- ## [Update on ROS native buffers](https://discourse.openrobotics.org/t/update-on-ros-native-buffers/51771)
**Author:** [@karsten-nvidia](https://discourse.openrobotics.org/u/karsten-nvidia)\ **Replies:** 7\ **Last updated:** [April 15, 2026, 3:33am UTC](https://discourse.openrobotics.org/t/update-on-ros-native-buffers/51771 "2026-04-15T03:33:18Z")
Hello ROS community, as you may have heard, NVIDIA has been working on proposing and prototyping a mechanism to add support for native buffer types into ROS2, to allow ROS2 to natively support APIs to use accelerated bu… --- ## [Difference between DDS design and reality](https://discourse.openrobotics.org/t/difference-between-dds-design-and-reality/39669)
**Author:** [@Guela\_kais](https://discourse.openrobotics.org/u/Guela_kais)\ **Replies:** 1\ **Last updated:** [September 20, 2024, 5:31pm UTC](https://discourse.openrobotics.org/t/difference-between-dds-design-and-reality/39669 "2024-09-20T17:31:44Z")
I am currently preparing a presentation on ROS2 at Chili Con Chaos 2024 and would also like to talk about the DDS layer. I have now found the official design article on this and I am interested in how much of it has ende… --- ## [What is your favorite ROS artwork?](https://discourse.openrobotics.org/t/what-is-your-favorite-ros-artwork/36853)
**Author:** [@caioconti](https://discourse.openrobotics.org/u/caioconti)\ **Replies:** 10\ **Last updated:** [March 28, 2024, 3:48pm UTC](https://discourse.openrobotics.org/t/what-is-your-favorite-ros-artwork/36853 "2024-03-28T15:48:12Z")
Personally, I think almost all the ROS posters are very neat, I tried to find the artist but I couldn’t. Does anyone know who the talented artist behind the posters is? My favorites are Melodic and Crystal. What are you… --- ## [Where is the discauss of register callback and run callback?](https://discourse.openrobotics.org/t/where-is-the-discauss-of-register-callback-and-run-callback/34136)
**Author:** [@Samel\_S](https://discourse.openrobotics.org/u/Samel_S)\ **Replies:** 6\ **Last updated:** [October 16, 2023, 8:24pm UTC](https://discourse.openrobotics.org/t/where-is-the-discauss-of-register-callback-and-run-callback/34136 "2023-10-16T20:24:00Z")
I remember I have read the article about ros client’s register callback and action callback in ros document. It talks about the how to register the callback. Also, it talk about use poller to get callbacks and run or tri… --- ## [Implementation of anytime navigation algorithms in ROS 2](https://discourse.openrobotics.org/t/implementation-of-anytime-navigation-algorithms-in-ros-2/28126)
**Author:** [@Cadmus](https://discourse.openrobotics.org/u/Cadmus)\ **Replies:** 2\ **Last updated:** [November 8, 2022, 10:58pm UTC](https://discourse.openrobotics.org/t/implementation-of-anytime-navigation-algorithms-in-ros-2/28126 "2022-11-08T22:58:48Z")
Hello everyone! I hope I’m asking this in the right place. Our team is moving towards using Nav2 for our autonomy system, and we have some plans to use anytime algorithms (e.g. Monte-Carlo Tree Search) to produce waypo… --- ## [Is Data oriented programming relevant?](https://discourse.openrobotics.org/t/is-data-oriented-programming-relevant/26225)
**Author:** [@tomkimsour](https://discourse.openrobotics.org/u/tomkimsour)\ **Replies:** 2\ **Last updated:** [June 30, 2022, 6:39am UTC](https://discourse.openrobotics.org/t/is-data-oriented-programming-relevant/26225 "2022-06-30T06:39:46Z")
Hi I just heard of Data oriented programming while watching a talk on rust game dev and I was wondering if this was relevant here. We have been using OOP in our project and as far as I understood Data Oriented Programmin… --- ## [Launch wrapper for rclcpp::Node to make it a LifecycleNode](https://discourse.openrobotics.org/t/launch-wrapper-for-rclcpp-node-to-make-it-a-lifecyclenode/23106)
**Author:** [@msmcconnell](https://discourse.openrobotics.org/u/msmcconnell)\ **Replies:** 2\ **Last updated:** [November 22, 2021, 2:24pm UTC](https://discourse.openrobotics.org/t/launch-wrapper-for-rclcpp-node-to-make-it-a-lifecyclenode/23106 "2021-11-22T14:24:17Z")
I have a proposal to run by the ROS2 community. Recently, I have been trying to integrate some in-house ROS2 Lifecycle nodes (rclcpp\_lifecycle::LifecycleNode in Foxy) with regular non-lifecycle nodes (rclcpp::Node) that … --- ## [ROS 2 robot\_state\_publisher improvements](https://discourse.openrobotics.org/t/ros-2-robot-state-publisher-improvements/11521)
**Author:** [@clalancette](https://discourse.openrobotics.org/u/clalancette)\ **Replies:** 27\ **Last updated:** [December 9, 2019, 6:39pm UTC](https://discourse.openrobotics.org/t/ros-2-robot-state-publisher-improvements/11521 "2019-12-09T18:39:36Z")
I’m currently near the end of a rewrite of robot\_state\_publisher. There are a few goals to this rewrite: Simplify the code, as it was too complicated before. Bring the code up to modern ROS 2 standards. Reinstate some… --- ## [OnShape to SDF/URDF simulation](https://discourse.openrobotics.org/t/onshape-to-sdf-urdf-simulation/8547)
**Author:** [@Gregwar](https://discourse.openrobotics.org/u/Gregwar)\ **Replies:** 1\ **Last updated:** [April 1, 2019, 10:22pm UTC](https://discourse.openrobotics.org/t/onshape-to-sdf-urdf-simulation/8547 "2019-04-01T22:22:14Z")
Hello, With my team we’ve been working on an export tool to build robot models from OnShape CAD designs that can then be used in Gazebo or PyBullet for instance. This allows you to transfer robots designed using this o… --- ## [ROS2 Embedded SIG meeting #1](https://discourse.openrobotics.org/t/ros2-embedded-sig-meeting-1/6645)
**Author:** [@BorjaOuterelo](https://discourse.openrobotics.org/u/BorjaOuterelo)\ **Replies:** 4\ **Last updated:** [December 27, 2018, 8:03am UTC](https://discourse.openrobotics.org/t/ros2-embedded-sig-meeting-1/6645 "2018-12-27T08:03:46Z")
Following the current interest on a ROS 2 targeting microcontrollers we have scheduled an online community meeting for next Monday, 5th of November at 16:00-18:00 UTC. The meeting will take place on hangouts meet: https… --- ## [ROS2 Design Patterns](https://discourse.openrobotics.org/t/ros2-design-patterns/2865)
**Author:** [@fkromer](https://discourse.openrobotics.org/u/fkromer)\ **Replies:** 1\ **Last updated:** [January 13, 2018, 1:10pm UTC](https://discourse.openrobotics.org/t/ros2-design-patterns/2865 "2018-01-13T13:10:05Z")
Are you going to address design patterns for ROS2 in your documentation as you did for ROS1 with the ROS Pattern Pages (wiki.ros.org)? It would be helpful if one could access information about ROS2 design patterns from a… --- ## [RFC: Using DDS Partitions to implement ROS 2 Namespaces](https://discourse.openrobotics.org/t/rfc-using-dds-partitions-to-implement-ros-2-namespaces/1390)
**Author:** [@wjwwood](https://discourse.openrobotics.org/u/wjwwood)\ **Replies:** 0\ **Last updated:** [February 25, 2017, 1:36am UTC](https://discourse.openrobotics.org/t/rfc-using-dds-partitions-to-implement-ros-2-namespaces/1390 "2017-02-25T01:36:50Z")
We’ve changed our proposal for how to implement ROS 2 namespaces. Now we are proposing to use DDS Partitions. Previously we proposed replacing the /'s in the ROS namespaces with \_\_ since / are not allowed in DDS topic na…