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Micro XRCE-DDS: Bringing DDS into microcontrollers

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eProsima

Micro XRCE-DDS is a protocol designed for data distribution service (DDS) in resource-constrained environments, allowing communication between low-resource devices and DDS global data space via a client-server architecture. It features request-response patterns, supports multiple operating systems, and provides tools for task scheduling and data serialization. Eprosima's Micro XRCE-DDS is highlighted as the first implementation of this protocol, facilitating the integration of ROS 2 nodes in embedded systems.

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Micro XRCE-DDS: Bringing DDS into microcontrollers www.eprosima.com https://micro-xrce-dds.docs.eprosima.com/en/latest/
DDS: a recap DDS: Middleware specification for Data Distribution Service. DDS at a glance: ● Data-centricity ● Publish-Subscribe architecture ● Global data space ● Data connectivity: many-to-many distributed network ● QoS mechanisms ● API standard guaranteeing interoperability among implementations ● Dynamic Discovery
From DDS to DDS-XRCE Publish-Subscribe paradigm Client-Server architecture
The DDS-XRCE wire protocol DDS-XRCE: DDS for eXtremely Resource-Constrained Environment. Clients - XRCE entities on low-resource consumption devices. Agent - XRCE entity connected with DDS global data space. Acts on behalf of Clients in the DDS world. Main features: ● Client-server architecture ● Request-response pattern ● Connection oriented
Micro XRCE-DDS Main components: ● Micro XRCE-DDS Agent ● Micro XRCE-DDS Client Additional components: ● Generator tool ● Serialization library eProsima Micro XRCE-DDS: First implementation of DDS-XRCE protocol.
Micro XRCE-DDS Main components: ● Micro XRCE-DDS Agent ● Micro XRCE-DDS Client Additional components: ● Generator tool ● Serialization library eProsima Micro XRCE-DDS: First implementation of DDS-XRCE protocol.
Supported OSes and RTOSes RTOS: Real Time Operating System Main Features: ● Works with an advanced algorithm for scheduling tasks within maximum time limit. ● Apt for Real-Time applications ● POSIX-compliant interface NuttX FreeRTOS Linux Windows Zephyr
Client-Agent communication Communication flow: ● Client connects to agent (upon previous knowledge or discovery) ● Session creation (Client proxy instantiation) ● DDS Participant creation ● Other DDS Entities creation
micro-ROS: puts ROS 2 onto microcontrollers! The solution for creating ROS 2 nodes into embedded devices Micro XRCE-DDS: the micro-ROS middleware
Real-Time OS Additional drivers, … POSIX Micro XRCE-DDS Client ROS Middleware Interface (rmw) + Additional abstractions micro-ROS Agent microcontroller C API rcl C++ API (rclcpp) Convenience functions, deterministic execution, … Application component Application component … rclc: Linux, Mac OS, Windows DDS Implementation [Fast DDS, ..] ROS Middleware Interface (rmw) microprocessor C API rcl C++ API (rclcpp) Application component Application component … Python API (rclpy) Apps ROS Client Library ROS MW Interface Operating Systems Hardware XRCE-DDS DDS Micro XRCE-DDS: the micro-ROS middleware micro-ROS ROS 2
Thank you! Francesca Finocchiaro eProsima - Team manager francescafinocchiaro@eprosima.com www.eprosima.com
Back-up slides
Micro XRCE-DDS Client Micro XRCE-DDS Client: C99 library. Features: ● UDP, TCP, and Serial transport support ● Micro XRCE-DDS as a wire protocol ● Full static memory ● Configurable profiles ● Streams: best effort & reliable ● DDS entities can be created by: XML, reference or binary profiles
Micro XRCE-DDS Agent Micro XRCE-DDS Agent: C++11 application & library. Features: ● UDP, TCP, and Serial transport support ● Fast DDS as DDS wire protocol ● Creates Client proxy as DDS actor ● Configurable ● Streams: best effort & reliable

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Micro XRCE-DDS: Bringing DDS into microcontrollers

  • 1. Micro XRCE-DDS: Bringing DDS into microcontrollers www.eprosima.com https://micro-xrce-dds.docs.eprosima.com/en/latest/
  • 2. DDS: a recap DDS: Middleware specification for Data Distribution Service. DDS at a glance: ● Data-centricity ● Publish-Subscribe architecture ● Global data space ● Data connectivity: many-to-many distributed network ● QoS mechanisms ● API standard guaranteeing interoperability among implementations ● Dynamic Discovery
  • 3. From DDS to DDS-XRCE Publish-Subscribe paradigm Client-Server architecture
  • 4. The DDS-XRCE wire protocol DDS-XRCE: DDS for eXtremely Resource-Constrained Environment. Clients - XRCE entities on low-resource consumption devices. Agent - XRCE entity connected with DDS global data space. Acts on behalf of Clients in the DDS world. Main features: ● Client-server architecture ● Request-response pattern ● Connection oriented
  • 5. Micro XRCE-DDS Main components: ● Micro XRCE-DDS Agent ● Micro XRCE-DDS Client Additional components: ● Generator tool ● Serialization library eProsima Micro XRCE-DDS: First implementation of DDS-XRCE protocol.
  • 6. Micro XRCE-DDS Main components: ● Micro XRCE-DDS Agent ● Micro XRCE-DDS Client Additional components: ● Generator tool ● Serialization library eProsima Micro XRCE-DDS: First implementation of DDS-XRCE protocol.
  • 7. Supported OSes and RTOSes RTOS: Real Time Operating System Main Features: ● Works with an advanced algorithm for scheduling tasks within maximum time limit. ● Apt for Real-Time applications ● POSIX-compliant interface NuttX FreeRTOS Linux Windows Zephyr
  • 8. Client-Agent communication Communication flow: ● Client connects to agent (upon previous knowledge or discovery) ● Session creation (Client proxy instantiation) ● DDS Participant creation ● Other DDS Entities creation
  • 9. micro-ROS: puts ROS 2 onto microcontrollers! The solution for creating ROS 2 nodes into embedded devices Micro XRCE-DDS: the micro-ROS middleware
  • 10. Real-Time OS Additional drivers, … POSIX Micro XRCE-DDS Client ROS Middleware Interface (rmw) + Additional abstractions micro-ROS Agent microcontroller C API rcl C++ API (rclcpp) Convenience functions, deterministic execution, … Application component Application component … rclc: Linux, Mac OS, Windows DDS Implementation [Fast DDS, ..] ROS Middleware Interface (rmw) microprocessor C API rcl C++ API (rclcpp) Application component Application component … Python API (rclpy) Apps ROS Client Library ROS MW Interface Operating Systems Hardware XRCE-DDS DDS Micro XRCE-DDS: the micro-ROS middleware micro-ROS ROS 2
  • 11. Thank you! Francesca Finocchiaro eProsima - Team manager francescafinocchiaro@eprosima.com www.eprosima.com
  • 13. Micro XRCE-DDS Client Micro XRCE-DDS Client: C99 library. Features: ● UDP, TCP, and Serial transport support ● Micro XRCE-DDS as a wire protocol ● Full static memory ● Configurable profiles ● Streams: best effort & reliable ● DDS entities can be created by: XML, reference or binary profiles
  • 14. Micro XRCE-DDS Agent Micro XRCE-DDS Agent: C++11 application & library. Features: ● UDP, TCP, and Serial transport support ● Fast DDS as DDS wire protocol ● Creates Client proxy as DDS actor ● Configurable ● Streams: best effort & reliable