A primary requirement in distributed robotic software systems is the dissemination of data to all interested collaborative\nentities in a timely and scalable manner. However, providing such a service in a highly dynamic and resource limited\nrobotic environment is a challenging task, and existing robot software infrastructure has limitations in this\naspect. This paper presents a novel robot software infrastructure, micROS-drt, which supports real-time and scalable\ndata distribution. The solution is based on a loosely coupled data publish-subscribe model with the ability to support\nvarious time-related constraints. And to realize this model, a mature data distribution standard, the data distribution\nservice for real-time systems (DDS), is adopted as the foundation of the transport layer of this software infrastructure.\nBy elaborately adapting and encapsulating the capability of the underlying DDS middle ware, micROS-drt can meet\nthe requirement of real-time and scalable data distribution in distributed robotic systems. Evaluation results in terms\nof scalability, latency jitter and transport priority as well as the experiment on real robots validate the effectiveness of\nthis work.
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