Eclipse Iceoryx Overview
- 1. Sec.2 Tokyo Laboratory 29 R&D Center Copyright 2020 Sony Corporation Eclipse Iceoryx Overview R&D Center, Sony Corporation ) Tomoya Fujita
- 2. Introduction rclxxx (lang frontend) ROS2 Client Library ROS2 Middleware API (RMW front) rmw_fastrtps rmw_iceoryx eProsima Fast-RTPS Eclipse Iceoryx
- 3. RMW Modification 3 rclcpp rcl rmw rmw_connextrmw_fastrtps rmw_iceoryx RTI ConnextFast-RTPS Eclipse/iceoryx Application Can I loan the memory? No NoYes
- 4. Iceoryx Architecture 4 RouDi DaemonHost System Introspection Process, Pub/Sub List Configuration Description (code) Publisher (Application) Subscriber (Application) Subscriber (Application) /iceoryx_mgmt Shared Object ServiceDescription Semaphore Chunk Shared Memory Message Queue /publisher_name /roudi /subscriber_name /subscriber_name Message Queue AliveCheck/HeartBeat
- 5. Iceoryx Data Transport RouDi DaemonHost System Introspection Process, Pub/Sub List Configuration Description (code) Publisher (Application) Subscriber (Application) Subscriber (Application) /iceoryx_mgmt Shared Object ServiceDescription Semaphore Chunk Shared Memory 1. Write Chunk 2. Post Semaphore 3. Notification 4. Read Chunk Everything via Shared Memory
- 6. 6 Constraints • Single Point Failure because of RouDi Daemon. • RouDi Daemon must be required to run before any application. • Fixed virtual address dependency. – Currently it is required to mmap the specific base address for all process. • Unconfigurable memory pool after compile. (static only) • RPC(Request/Response Procedure Call) is not supported. • Single publisher only supported. • Latching data transport is not supported. (QoS)