This presentation provides a deep dive into Fast DDS, the open source DDS implementation of eProsima, its features and tools.

1. Fast DDS Features and Tools
Jan 2021
Jaime Martin Losa - CEO
JaimeMartin@eProsima.com
+34 607 91 37 45
www.eProsima.com
twitter.com/eProsima

2. Fast DDS Features
Open Source, Widely Adopted, Portable

3. Fast DDS Features: Open Source
- Apache 2.0 License: Commercial Friendly.
- Widely Adopted:
- ROS, Dronecode, Apollo, Autoware, etc
- More than 50.000 clones/month

4. Platform Support: Highly portable
- Fast DDS:
- Linux, Windows, MacOS, QNX, VxWorks
- XRCE-DDS:
- NuttX, FreeRTOS, Zephyr

5. Fast DDS: Highest Quality Standard
- Quality Level 1:
- https://ros.org/reps/rep-2004.html
- Thousands of tests
- eProsima and external
- 86% code coverage
- Tens of thousands of users.
- > 50.000 clones per month of Fast DDS repo.

6. Fast DDS Documentation
- Fully Documented
- Many examples and
demos.

7. Easy: XML QoS Profiles
- XML QoS Profiles:
- Set-up everything using an XML file.

8. Fast DDS Features
Performance

9. Fast DDS Features: Performance
- Performance
- Real-Time behaviour
- Zero-Copy Transport

10. Fastest Implementation available
Complete
study here

11. Open Robotics 2020 Study

12. Open Robotics CI Tests: faster than RTI

13. Real-Time Behavior
- Static Memory Allocations
- All memory can be allocated at start-up
- Non-Blocking Calls

14. HOST A HOST B
Process A1
DDS
RTPS writer
Process B1
DDS
RTPS reader
Transport
encapsulation
Transport
encapsulation
Zero-Copy Shared Mem Transport
Shared memory on RTPS layer
● No transport encapsulation for endpoints on the same host
● Have writer history on memory mapped file
● Only for bounded types and PREALLOCATED memory mode
14 CONFIDENTIAL AND PROPRIETARY
Process A2
DDS
RTPS reader
Transport
encapsulation
Mmap’d file
Transport (UDP, TCP, …)
Transport (SHM)

15. Fast DDS Features
Secure

16. Fast DDS Features: Security
DDS Security Plugins: Complete Specification
- Authentication
- Cryptographic
- Access Control
- Logging
- Data Tagging: User defined data tagging.

17. Fast DDS Features
Scalability

18. 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
18

19. Wifi Scalability Testbed
- 32 physical nodes, hundred of participants.
- Complete study here

20. Fast DDS Features
X-Types

21. Fast DDS Features: X-Types
- Define your data types with no IDL, at runtime.
- Discover remote topics and types.

22. Tools:
DDS for Microcontrollers

23. 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

24. Tools:

25. DDS Integration Service

26. Ongoing Tools (May 2021)
Solutions for lossy networks

27. Fast DDS Statistics Module
- Statistics per Node/Topic:
- Msg/bytes send/received
- Ack/Nacks
- Packet Loss
- Etc.

28. Fast DDS: Smart Flow Controller
- Controls the sending rate
- Async publishing.
- Reacts to network conditions:
- Using statistics
- Traditional and AI models.

29. DDS Network Monitor
- Analyze the performance of your system
- Display statistics of your nodes/topics.

30. Funded by
Deutsche Bahn - Autonomous Trains
Open Robotics - Singapore Hospital

31. Ongoing Tools (End 2021)
Visual DDS

32. Visual DDS/ROS
- Create ROS2/DDS applications with no code.

33. Thank you
www.eProsima.com