Design and Implementation of Robot Middleware Service Integration Framework Based on DDS

The distributed real-time system composed of industrial robots usually needs to meet the support of low-latency, high-reliability data transmission and service invocation. Based on the Data Distribution Service (DDS) publish-subscribe communication paradigm, this paper designs a service integration framework model called Dynamic-DDS-RPC with a request-response mechanism to achieve low-latency and flexible configuration of the robot service remote procedure call function. First of all, we use JSON to implement a set of service description specifications to support service definition and program interface implementation, and uses dynamic library automatic loading technology to solve the problem that DDS-RPC does not support dynamic loading and discovery of services. Secondly, we implement a topic-centric service request-response mechanism based on the publish-subscribe communication mode of DDS, and realize low-latency data communication. Finally, we develop a robot middleware software based on the framework, and use the middleware to compare the performance of the service-request response speed with the WebService-based middleware and the DDS-RPC-based middleware. The results show that the service integration framework proposed in this paper can realize the remote procedure call function with low latency and high flexible configuration, which verifies the effectiveness of the framework.