Abstract
Data Distribution Service (DDS) is an open specification from the Object Management Group for topic-based communications in distributed environments. It is particularly well-known for its type safety and suitability to real-time applications. Several high-quality implementations exist, and their compliance with both the wire protocol standard and the API standard makes them interoperable and interchangeable. This paper describes the implementation of a port type for OpenRTM-aist that uses DDS as the communications layer for data transfer between components. It demonstrates the speed brought by DDS through the implementation of a high-throughput point cloud processing application.
