Today we want to bring your attention to an interesting and hopefully helpful Github repository created by NXP that shows how to integrate DDS and TSN, allowing the modeling of a differential drive vehicle in the ROS 2 environment with Gazebo.
This demo proves the advantages of integrating DDS and TSN for autonomous vehicles use cases. A Gazebo environment simulates the moose test, a challenge in which a vehicle has to perform a time-critical evasive maneuver. Linking a safety-critical DDS topic to a TSN stream results in a successful completion of the moose test.
This demo uses three machines with Ubuntu 20.04, two of them are embedded ARM-based systems, connected to a TSN Ethernet switch, and a ROS 2 Foxy base which has Fast DDS pre-installed.
Great job @Daniel_Cabezas, thank you for sharing! I’m happy to see that you used Connext DDS (and rmw_connextdds) to demonstrate the actual DDS-TSN integration
Thanks a lot, @Daniel_Cabezas, for sharing! Last week we also added a demo video to the repository, illustrating vehicle collisions caused by the network interference. Furthermore, those who are interested in the DDS-TSN integration may like our free webinar, which has another demo video about various network interference and fault handling scenarios during autonomous valet parking with Autoware.Auto. Enjoy!
Hi @AKampmann, few days ago we also published a DDS-TSN white paper, which details a similar experimental setup using Autoware.Auto Autonomous Valet Parking covered in the free DDS-TSN webinar. This white paper does include a high-level end-to-end latency and jitter analysis regarding Figure 10, which you may find interesting. When reasoning about these numbers it’s important to note that the GitHub networking setup has a single hop, while the webinar and white paper’s setup includes multiple hops. Furthermore, the software stacks are quite different. Hope this helps!
Last week we also added a demo video to the 