# ROS2-DDS-TSN integration demo by NXP

**URL:** <https://discourse.openrobotics.org/t/ros2-dds-tsn-integration-demo-by-nxp/22776>\
**Category:** ROS General\
**Tags:** ros2, dds, autonomous-driving, fastdds\
**Created:** [October 21, 2021, 2:26pm UTC](https://discourse.openrobotics.org/t/ros2-dds-tsn-integration-demo-by-nxp/22776 "2021-10-21T14:26:52Z")\
**Posts on this page:** 7\
**Page:** 1

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**Author:** ![Daniel\_Cabezas](https://avatars.discourse-cdn.com/v4/letter/d/c6cbf5/32.png) [@Daniel\_Cabezas](https://discourse.openrobotics.org/u/Daniel_Cabezas)\
**Post date:** [October 21, 2021, 2:26pm UTC](https://discourse.openrobotics.org/t/ros2-dds-tsn-integration-demo-by-nxp/22776/1 "2021-10-21T14:26:52Z")

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Hi ROS community!

Today we want to bring your attention to an interesting and hopefully helpful Github repository created by NXP that shows how to integrate [DDS](https://eprosima.com/index.php/resources-all/whitepapers/dds)and [TSN](https://en.wikipedia.org/wiki/Time-Sensitive_Networking), 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](https://en.wikipedia.org/wiki/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.

You can find the whole repository and the use case in the following link: [GitHub - NXP/dds-tsn: Example project of DDS-TSN integration](https://github.com/NXP/dds-tsn)

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**Author:** ![asorbini\_rti](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/asorbini_rti/32/9785_2.png) [@asorbini\_rti](https://discourse.openrobotics.org/u/asorbini_rti)\
**Post date:** [October 21, 2021, 6:26pm UTC](https://discourse.openrobotics.org/t/ros2-dds-tsn-integration-demo-by-nxp/22776/2 "2021-10-21T18:26:30Z")

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Great job @Daniel_Cabezas, thank you for sharing! I’m happy to see that you used Connext DDS (and [rmw\_connextdds](https://github.com/ros2/rmw_connextdds)) to demonstrate the actual DDS-TSN integration 😁

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**Author:** ![Osilva](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/osilva/32/11321_2.png) [@Osilva](https://discourse.openrobotics.org/u/Osilva)\
**Post date:** [October 22, 2021, 1:10am UTC](https://discourse.openrobotics.org/t/ros2-dds-tsn-integration-demo-by-nxp/22776/3 "2021-10-22T01:10:54Z")

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Thank you for sharing. Very interesting.

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**Author:** ![andrei](https://avatars.discourse-cdn.com/v4/letter/a/9fc29f/32.png) [@andrei](https://discourse.openrobotics.org/u/andrei)\
**Post date:** [November 1, 2021, 10:18am UTC](https://discourse.openrobotics.org/t/ros2-dds-tsn-integration-demo-by-nxp/22776/4 "2021-11-01T10:18:30Z")

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Thanks a lot, @Daniel_Cabezas, for sharing! 👍 Last week we also added a demo video to the [repository](https://github.com/NXP/dds-tsn), illustrating vehicle collisions caused by the network interference. Furthermore, those who are interested in the DDS-TSN integration may like our [free webinar](https://www.nxp.com/design/training/dds-and-tsn-where-software-and-hardware-meet-for-dependable-communication-using-rti-connext-drive-and-nxp-s32g-processor:TIP-DDS-AND-TSN-WHERE-SOFTWARE-AND-HARDWARE-MEET), which has another demo video about various network interference and fault handling scenarios during autonomous valet parking with Autoware.Auto. Enjoy! 🙂

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**Author:** ![AKampmann](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/akampmann/32/11641_2.png) [@AKampmann](https://discourse.openrobotics.org/u/AKampmann)\
**Post date:** [November 2, 2021, 9:46am UTC](https://discourse.openrobotics.org/t/ros2-dds-tsn-integration-demo-by-nxp/22776/5 "2021-11-02T09:46:53Z")

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Thank you for sharing.

Maybe i missed it - do you have benchmarks on jitter/latency for TSN/Non-TSN for this example?

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**Author:** ![andrei](https://avatars.discourse-cdn.com/v4/letter/a/9fc29f/32.png) [@andrei](https://discourse.openrobotics.org/u/andrei)\
**Post date:** [November 15, 2021, 11:34am UTC](https://discourse.openrobotics.org/t/ros2-dds-tsn-integration-demo-by-nxp/22776/6 "2021-11-15T11:34:09Z")

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Hi @AKampmann, few days ago we also published a DDS-TSN [white paper](https://www.nxp.com/webapp/Download?colCode=DDSTSNWP), which details a similar experimental setup using Autoware.Auto Autonomous Valet Parking covered in the free DDS-TSN [webinar](https://www.nxp.com/design/training/dds-and-tsn-where-software-and-hardware-meet-for-dependable-communication-using-rti-connext-drive-and-nxp-s32g-processor:TIP-DDS-AND-TSN-WHERE-SOFTWARE-AND-HARDWARE-MEET). 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!

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**Author:** ![AKampmann](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/akampmann/32/11641_2.png) [@AKampmann](https://discourse.openrobotics.org/u/AKampmann)\
**Post date:** [November 24, 2021, 10:37am UTC](https://discourse.openrobotics.org/t/ros2-dds-tsn-integration-demo-by-nxp/22776/7 "2021-11-24T10:37:39Z")

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Thank you! I will have a look at the whitepaper.