Dynamic Binding a Proper DDS Implementation for Optimizing Inter-Node Communication in ROS2

Morita, Ren; Matsubara, Katsuya

doi:10.1109/rtcsa.2018.00043

Cited by 5 publications

(1 citation statement)

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“…In the Ref. [20], the importance of DDS as part of ROS2 is detailed alongside the importance of different DDS implementations for achieving the major objectives of ROS2 concerning the multiple robots cooperation, the usage of smaller embedded systems with limited resources, the real-time constraints that are present in multiple industrial use cases, and the communication over unstable networks. The authors propose a solution for dynamically binding proper DDS implementation, suited for specific situations, as a middleware to ROS2.…”

Section: Dds As Ros2 Middlewarementioning

confidence: 99%

DDS and OPC UA Protocol Coexistence Solution in Real-Time and Industry 4.0 Context Using Non-Ideal Infrastructure

Ioana

Korodi

2021

Sensors

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Continuing the evolution towards Industry 4.0, the industrial communication protocols represent a significant topic of interest, as real-time data exchange between multiple devices constitute the pillar of Industrial Internet of Things (IIoT) scenarios. Although the legacy protocols are still persistent in the industry, the transition was initiated by the key Industry 4.0 facilitating protocol, the Open Platform Communication Unified Architecture (OPC UA). OPC UA has to reach the envisioned applicability, and it therefore has to consider coexistence with other emerging real-time oriented protocols in the production lines. The Data Distribution Service (DDS) will certainly be present in future architectures in some areas as robots, co-bots, and compact units. The current paper proposes a solution to evaluate the real-time coexistence of OPC UA and DDS protocols, functioning in parallel and in a gateway context. The purpose is to confirm the compatibility and feasibility between the two protocols alongside a general definition of criteria and expectations from an architectural point of view, pointing out advantages and disadvantages in a neutral manner, shaping a comprehensive view of the possibilities. The researched architecture is meant to comply with both performance comparison scenarios and interaction scenarios over a gateway application. Considering the industrial tendencies, the developed solution is applied using non-ideal infrastructures to provide a more feasible and faster applicability in the production lines.

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Section: Dds As Ros2 Middlewarementioning

confidence: 99%