Aartsen, Max, Banga, Kanta, Talko, Konrad, Touw, Dustin, Wisman, Bertus, Meïnsma, Daniel, Björkqvist, Mathias.
2022.
Analyzing Interoperability and Security Overhead of ROS2 DDS Middleware. 2022 30th Mediterranean Conference on Control and Automation (MED). :976–981.
Robot Operating System 2 (ROS2) is the latest release of a framework for enabling robot applications. Data Distribution Service (DDS) middleware is used for communication between nodes in a ROS2 cluster. The DDS middleware provides a distributed discovery system, message definitions and serialization, and security. In ROS2, the DDS middleware is accessed through an abstraction layer, making it easy to switch from one implementation to another. The existing middleware implementations differ in a number of ways, e.g., in how they are supported in ROS2, in their support for the security features, their ease of use, their performance, and their interoperability. In this work, the focus is on the ease of use, interoperability, and security features aspects of ROS2 DDS middleware. We compare the ease of installation and ease of use of three different DDS middleware, and test the interoperability of different middleware combinations in simple deployment scenarios. We highlight the difference that enabling the security option makes to interoperability, and conduct performance experiments that show the effect that turning on security has on the communication performance. Our results provide guidelines for choosing and deploying DDS middleware on a ROS2 cluster.
ISSN: 2473-3504
Gopal, Kumar Parop, Sambath, M, Geetha, Angelina, Shekhar, Himanshu.
2022.
Implementing Fast Router In Convergent LTE/ Wifi Networks Using Software Defined Networks. 2022 IEEE 2nd Mysore Sub Section International Conference (MysuruCon). :1–5.
The phenomenon known as "Internet ossification" describes the process through which certain components of the Internet’s older design have become immovable at the present time. This presents considerable challenges to the adoption of IPv6 and makes it hard to implement IP multicast services. For new applications such as data centers, cloud computing and virtualized networks, improved network availability, improved internal and external domain routing, and seamless user connectivity throughout the network are some of the advantages of Internet growth. To meet these needs, we've developed Software Defined Networking for the Future Internet (SDN). When compared to current networks, this new paradigm emphasizes control plane separation from network-forwarding components. To put it another way, this decoupling enables the installation of control plane software (such as Open Flow controller) on computer platforms that are substantially more powerful than traditional network equipment (such as switches/routers). This research describes Mininet’s routing techniques for a virtualized software-defined network. There are two obstacles to overcome when attempting to integrate SDN in an LTE/WiFi network. The first problem is that external network load monitoring tools must be used to measure QoS settings. Because of the increased demand for real-time load balancing methods, service providers cannot adopt QoS-based routing. In order to overcome these issues, this research suggests a router configuration method. Experiments have proved that the network coefficient matrix routing arrangement works, therefore it may provide an answer to the above-mentioned concerns. The Java-based SDN controller outperforms traditional routing systems by nine times on average highest sign to sound ratio. The study’s final finding suggests that the field’s future can be forecast. We must have a thorough understanding of this emerging paradigm to solve numerous difficulties, such as creating the Future Internet and dealing with its obliteration problem. In order to address these issues, we will first examine current technologies and a wide range of current and future SDN projects before delving into the most important issues in this field in depth.