Eclipse Iceoryx Architecture and Overview Summary

1. Sec.2 Tokyo Laboratory 29 R&D Center
Copyright 2020 Sony Corporation
Eclipse Iceoryx Overview
R&D Center, Sony Corporation ) Tomoya Fujita

2. Introduction
rclxxx (lang frontend)
ROS2 Client Library
ROS2 Middleware API (RMW front)
rmw_fastrtps rmw_iceoryx
eProsima
Fast-RTPS
Eclipse
Iceoryx

3. RMW Modification
3
rclcpp
rcl
rmw
rmw_connextrmw_fastrtps rmw_iceoryx
RTI ConnextFast-RTPS Eclipse/iceoryx
Application
Can I loan the memory?
No NoYes

4. Iceoryx Architecture
4
RouDi DaemonHost System
Introspection
Process, Pub/Sub List
Configuration
Description
(code)
Publisher
(Application)
Subscriber
(Application)
Subscriber
(Application)
/iceoryx_mgmt
Shared Object
ServiceDescription
Semaphore
Chunk
Shared Memory
Message Queue
/publisher_name
/roudi
/subscriber_name
/subscriber_name
Message Queue
AliveCheck/HeartBeat

5. Iceoryx Data Transport
RouDi DaemonHost System
Introspection
Process, Pub/Sub List
Configuration
Description
(code)
Publisher
(Application)
Subscriber
(Application)
Subscriber
(Application)
/iceoryx_mgmt
Shared Object
ServiceDescription
Semaphore
Chunk
Shared Memory
1. Write Chunk
2. Post Semaphore 3. Notification
4. Read Chunk
Everything via Shared Memory

6. 6
Constraints
• Single Point Failure because of RouDi Daemon.
• RouDi Daemon must be required to run before any application.
• Fixed virtual address dependency.
– Currently it is required to mmap the specific base address for all process.
• Unconfigurable memory pool after compile. (static only)
• RPC(Request/Response Procedure Call) is not supported.
• Single publisher only supported.
• Latching data transport is not supported. (QoS)

7. Tips
https://discourse.ros.org/t/robotics-distributed-system-
based-on-kubernetes/12558

8. SONYはソニー株式会社の登録商標または商標です。
各ソニー製品の商品名・サービス名はソニー株式会社またはグループ各社の登録商標または商標です。その他の製品および会社名は、各社の商号、登録商標または商標です。