Use-cases and Examples

Typical Use-cases

Typical scenarios in which eProsima Integration-Service is relevant are:

  • Communication of different DDS-based systems that use incompatible configurations.

  • Communication of a DDS system with systems with incompatible protocols.

  • Integrating DDS systems into arbitrarily complex systems using different protocols.

  • Communication between DDS systems located in different geographical regions through the Internet.

In this user manual we discuss representative use-cases demonstrating these eProsima Integration-Service’s functionalities. For each use-case, a related example is presented and the user is guided step-by-step through the installation protocol and environment preparation necessary to have the examples set up and working.

Namely, we will go through the following:



DDS bridge

Example: ROS2 communication

Add compatibility to an unsupported protocol

Example: ROS1 communication

Integrate a large system

Example: Integrate Orion Context-Broker and ROS1 into DDS

WAN communication

Example: WAN TCP tunneling

Important remarks

A compulsory prerequisite for running the examples of the following sections is to have eProsima Integration-Service correctly installed as explained in the introductory section Getting Started. Please make sure to follow all the steps described in the document before proceeding.

Whenever you run the colcon build command in the examples provided, if any package is missing dependencies causing the compilation to fail, you can add the flag --packages-up-to soss-dds-test as follows:

colcon build --packages-up-to soss-dds-test

Also notice that, for being able to execute eProsima Integration-Service with the soss command at the end of each example, the shell must be fully overlaid with the sourcing of all colcon-built packages required by the specific use-case:

  • The eProsima Integration-Service installation, along with that of any possible System-Handle that might be required by the specific example (e. g., SOSS-FIWARE and SOSS-ROS1).

  • The ROS2 or ROS1 installation, when needed.

As an alternative, you can install permanently the overlays relevant to your use-case system-wide, by adding the opportune source commands to your .bashrc file.