Martin Vajnar, Czech Technical University in Prague
Michal Sojka, Czech Technical University in Prague
Pavel Píša, Czech Technical University in Prague

Real-Time Publish Subscribe (RTPS) protocol is an OMG specification of a wire protocol (on top of UDP/IP) that is intended as an Interoperability Protocol for real-time applications based on the Data Distribution Service (DDS) API. RTPS is widely used in many industrial applications and its implementation is offered by several companies as well as by an open-source project. The open-source implementation is called Open Real-Time Ethernet (ORTE) and it is known to work on many platforms including GNU/Linux, Windows, FreeBSD and RTLinux-GPL. In this paper we describe a new addition to the supported platforms, which is an Android operating system for mobile devices.

We provide an overview of the steps that were needed to port the protocol to the Android platform. We ported the existing native library and added a Java wrapper around it. We comment on the troubles we had and their solutions as well as on the useful features provided by the Android platform. We compare the performance of ORTE on Android with other platforms and present our Android phone application for controlling and monitoring a mobile robot.