Toward the Automatic Network Resource Management of Robot Operating System in Programmable Mobile Networks.

This paper explores the potential for making the use of 3rd Generation Partnership Project (3GPP) Service Enabler Architecture Layer (SEAL) TS 23.434 even easier and more automatic in various industry verticals applying Robot Operating System 2 (ROS2) for their operation. The proposed solution involves implementing a mapping node that converts ROS2 settings to 3GPP SEAL requests and an information collecting proxy node. We evaluate the proposed method in various scenarios and deployments, including a novel deployment option that improves the network’s action radius and an aid to overcome some limitations of current network deployments. We cover three SEAL functionalities: group management, network resource management (NRM), network monitoring and provide a solution that automatically maps ROS2 application layer information elements to SEAL requests, requiring the ROS2 application developer need only to tag the ROS2 topics for the special Quality of Service (QoS) handling. We demonstrate the feasibility and light-weight nature of the proposed solution. The code of ROS2 nodes is open-sourced and can be found at: ( https://github.com/Ericsson/ros2-3gppSA6-mapper ). The demo video of the proposed system in action can be seen at: ( https://youtu.be/JXGAHvDSU4o ).