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.
RTI's draft submission to the RPC Over DDS specification. The submission defines a Remote Procedure Calls (RPC) framework using the basic building blocks of DDS, such as topics, types, and entities (e.g., datareader, datawriter) to provide request/reply semantics. It defines distributed services, characterized by a service interface, which serves as a shareable contract between service provider and a service consumer. It supports synchronous and asynchronous method invocation.
