Compatibility Layer for Integrating SOME/IP Communication into ROS2 Systems
Sein Lee, J.K. Yang K. Lin J.N. Yang, Yeonho Cho, Jeonghun Cho · 2024
This paper introduces an architecture that makes ROS2 applications compatible with SOME/IP, the primary communication protocol of AUTOSAR AP. The proposed interoperability layer allows ROS2 and SOME/IP-based applications to communicate effectively. We validated the suggested architecture through experiments, demonstrating the feasibility of integrating SOME/IP communication into the ROS2 system.