The Use of DDS Middleware in Robotics - 17 June 202 Corresponding webinar recording: https://youtu.be/pTkZk4VF0gY This webinar, in cooperation with FIWARE Foundation Gold Member eProsima, will provide an introduction to core real-time technologies: FAST DDS, the most complete Open Source DDS for ROS 2, and Micro XRCE-DDS, the middleware for microcontrollers and micro-ROS. Chapter: Robotics Difficulty: 3 Audience: Technical Domain Specific Speakers: Jaime Martin Losa (CEO, eProsima) and Francesca Finocchiaro (Team Manager micro-ROS, eProsima)

1. The Use of DDS Middleware in Robotics
FIWARE Webinar June 17th,2020
Jaime Martin Losa
CEO - eProsima
JaimeMartin@eProsima.com
+34 607 91 37 45
www.eprosima.com

2. Agenda
- About eProsima & FIWARE
- Fast DDS & ROS2
- Introduction
- Architecture
- Demo.
- What is new?
- XRCE-DDS & Micro-ROS (Francesca)

3. Company Brief
Jaime Martin Losa
CEO eProsima
JaimeMartin@eProsima.com
+34 607 91 37 45
www.eProsima.com
twitter.com/EProsima

4. eProsima in one shot
● Experts on middleware, focused on DDS
● OMG Members – DDS Standard Contributors
● ROS2 TSC Members: Key ROS2 Contributors
● ROS Industrial Contributors
● FIWARE Members: EU Open Source Framework
– Representative of FIWARE Robotics Chapter
● Army Interoperability Standards Contributor
– Spanish Army: Tactical Data Interface (IDT)

5. eProsima Products
● eProsima Fast DDS:
– Data Distribution Service (DDS) implementation
– Adopted by ROS2 - FIWARE Enabler
● eProsima Micro XRCE-DDS:
– DDS for eXtreme Resource Constrained Environments:
Microcontrollers
– Base of Micro-ROS - FIWARE Enabler
● eProsima Integration Service:
– Connect DDS with other protocols, such as FIWARE Context Broker
– Base of ROS Integration Service - SOSS - Future FIWARE Enabler

6. Fast DDS
(Formerly Fast RTPS)
Powering ROS2

7. Fast DDS - Motivation
● Real Time Requirements
– Latency measured in µSec
● High Throughput Requirements
– Take advantage of Pub/Sub Architecture
● Low bandwidth, intermittent and unreliable datalinks
– Radio networks
– Wifi
● Many to Many communications
● Decoupled architectures
● Different QoS over different datalinks and performance
requirements.
● Efficient Data Models

8. Fast DDS - Motivation (II)
● C++
● DDS API
– Full RTPS (Real Time Publish Subscribe) implementation
● DDS Security
– Encryption,Authentication, Access control, logging
● RPC layer available through eProsima RPC over DDS
● Based on OMG standards, Interoperable.
● Comprehensive docs, videos, examples, etc.
● Multi-Platform:
– Windows, Linux, Android, Mac OS, iOS
– QNX, VxWorks, Real-Time Linux
● Many ports developed by the community
● Robotics Adoption (ROS2)
● Apache 2.0 License

9. Why Fast-DDS for ROS2?
● Fully Open-Source & Free:
– All features are Open Source
– Open Source Business model
– Contributors Community
● Roadmap Aligned with ROS2 Roadmap
● ROS2 TSC Members
– eProsima is a key contributor to ROS2
– Fast DDS: ROS2
– Fast DDS Security: Secure ROS2
– Micro XRCE-DDS: Micro-ROS
– eProsima Integration Service: ROS2 Integration Tools - SOSS

10. DDS: Standards-based Integration
Infrastructure for Critical Applications

11. Family of specifications

12. Broad Adoption
● Vendor independent
– API for portability
– Wire protocol for interoperability
● Multiple implementations
– 10 of API
– 8 support RTPS
● Heterogeneous
– C, C++, Java, .NET (C#, C++/CLI)
– Linux, Windows, VxWorks, other
embedded & real time
● Loosely coupled

13. DDS Adoption: Defense & Aerospace
● European Air Traffic Control
– ATC Interoperability
● Many defense organizations
– US and Europe

14. DDS Adoption: Robotics, Automotive
● ROS (Robotic Operating System)
– Also Micro-ROS
● FIWARE
– EU R&D Software Platform
● Many Drone Companies
– Auterion, 3D Robotics, Magma UAVs
● Dronecode
– Main OSS platform for Drones
● AUTOSAR
● Autoware, Apollo, Baidu

15. Fast DDS Adoption
See Our Website - Customers and Partners

16. DDS Architecture

17. DDS (& ROS2)
DDS uses the concept of Global Data Space. In this Space we define topics of data,
and the publishers publish samples of these topics. DDS distributes these samples to all
the subscribers of those topics. Any node can be a publisher or a subscriber.

18. Why DDS? Decoupled model
● Space (location)
– Automatic Discovery ensures network topology independence
● Redundancy:
– It is possible to configure redundant publishers and subscribers, primary/secundary and
takeover schemas supported
● Time:
– The reception of data does not need to be synchronous with the writing. A subscriber may,
if so configured, receive data that was written even before the subscriber joined the
network.
● Platform:
– Applications do not have to worry about data representation, processor architecture,
Operating System, or even programming language on the other side
● Implementation:
– DDS Protocol is also an standard. Different implementations interoperate.

19. Why DDS? Fully configurable

20. Shapes Demo
const long STR_LEN=24;
struct ShapeType {
string<MSG_LEN> color; //@key
long x;
long y;
long shapesize;
};
● 3 Topics:
○ Square, Circle, Triangle
● Color is the KEY

21. eProsima Fast DDS:
The most complete open source DDS for #ROS2
FIWARE Webinar
Jaime Martin Losa
CEO - eProsima
JaimeMartin@eProsima.com
+34 607 91 37 45
www.eprosima.com

22. Features: What is new?
- Real-Time Behaviour
- Static allocations
- No dynamic memory allocations
- Non-blocking calls
- Sync and Async publishing
- Regular and large data.
- Intra-process communication
- Replace the udp loopback.
- Discovery Server.

23. Discovery Server
MULTICAST
NODE
3
NODE
1
NODE
2
NODE
4
NODE 3
NODE 1
NODE 2
NODE 4
FIRST STAGE: NODE DISCOVERY (PDP)
SECOND STAGE TOPIC DISCOVERY (EDP)
NODE 3
NODE 1
NODE 2
NODE 4
DISCOVERY SERVER(S)
NODE & TOPIC DISCOVERY (PDP, EDP)
ROS 2 DEFAULT DISCOVERY DISCOVERY SERVER
UNICAST
23

24. DDS ROS2 Features Matrix comparison
Feature eProsima
Fast DDS
OpenSpliceDDS
Community
CycloneDDS
DDS Security YES NO NO
Micro-ROS Support YES NO NO
Dynamic Types & Integration Srv YES NO NO
Real-Time Behavior (Static Alloc) YES NO NO
Server Based Discovery YES NO NO
Shared Memory Transport YES NO NO
WAN Support YES YES NO

25. Our Team: ROS2 Focus

26. eProsima Team: and yes, we are hiring ;)

27. And now… Micro-controllers!