eProsima and Ericsson delivered during the ROS-Industrial Conference 2021 this presentation to provide a technical and comprehensive insight of their contribution to ROS 2 for easy 5Gs integration

1. | EZMUDAN Ananya Muddukrishna X | 2021-11-04 | Open | Page 1 of
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Towards Easy
5GS Integration in
ROS2
Contributions to ROS2 by Ericsson and
eProsima for easy 5GS integration
Ananya Muddukrishna
and Jaime Martin Losa
Ericsson and eProsima 2021-12-03

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Outline
● ROS-5GS integration overview
● API in ROS Galactic for improved 5GS integration

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IP flows in ROS
ROS App.
RCL
RMW
UDP
IP
Sub
Pub
Nodes
UE on Robot
IP
Flows
ROS
Core
LIDAR 1 Wheel
encoders
LIDAR 2
IMU
Trajectory
update
Camera
Mobile robot
example

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ROS and 5GS integration
5G System Data Plane
QoS Flows
ROS App.
RCL
RMW
UDP
IP
Node
Sub
Pub
Nodes
ROS App.
…
IP
Nodes
UE on Robot
UE on Robot
IP
Flows
IP
Flows
5G System
Control/Mgmt Plane
Network services e.g.,
flow-specific QoS
ROS
Core
Exposure
Function
(SEAL/EDGEAPP/CAP
IF/NEF)

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Limited flow differentiation
across communicating nodes
5G System Data Plane
QoS Flows
ROS App.
RCL
RMW
UDP
IP
Node
ROS App.
…
IP
Node
UE on Robot
UE on Robot
IP
Flows
IP
Flows
ROS
Core
Similar layer
1-4 attributes
5G System
Control/Mgmt Plane
Network services e.g.,
flow-specific QoS
Exposure
Function
(SEAL/EDGEAPP/CAP
IF/NEF)

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Unique network flows
in ROS Galactic
ROS2 App.
RCL
RMW Fast-DDS
UDP
IP
IP
Flows
5G System Data Plane
5G System
Control/Mgmt Plane
QoS
Flows
Exposure
Function (SEAL/
EDGEAPP/CAPIF/NEF
)
Node
Flow
Endpoint
Info
UE on Robot
Unique
Flow
Endpoints
Flow X 🡪 QoS class Y (e.g.,
5QI)
● Features for improved 5GS
integration:
1. Applications can
request for unique
network flow endpoints
from the ROS
middleware (RMW)
2. Applications can obtain
network flow endpoint
information from the
RMW
● Collaboration between
eProsima (vendor of RMW
Fast-DDS) and Ericsson

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Unique network flows usage
examples

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Example subscription with unique flow
endpoints

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Example subscription with unique flow
endpoints

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Understand flow endpoints
Network Flow Endpoint
IP address
IP DSCP (diffserv)
Transport port (UDP/TCP)

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Require unique flow endpoints
Unique Endpoint Options
OPTIONAL
STRICT
SYSTEM

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Tier-1 RMW implementation support
Feature FastDDS CycloneDDS ConnextDDS
Network flow
endpoint
information
Yes Not yet Not yet
Subscription-side
unique network
flow endpoints
Yes Not yet Not yet
Publisher-side
unique network
flow endpoints
Not required for
common case*
Not yet Not yet
*NB! Either publisher- or subscription-side unique flow
endpoints are sufficient to define unique flows given the
common case that nodes have a single publisher/subscription
per topic

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Next steps
● ROS-5GS integration blueprints from eProsima-Ericsson
– Under Ericsson Industry 4.0 partner program (link)