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cs.RO2026
The Three Dimensions of ROS 2 Middleware
Sanghoon Lee, Taehun Kim, Angelo Corsaro +1
ROS 2 (Robot Operating System 2) has emerged as the de facto standard for modern robot software development, with middleware implementations such as the Data Distribution Service (…
cs.RO2026
ros2probe: Non-intrusive, Kernel-selective Observability for Robot Operating System 2 Middleware
Jisang Yu, Sanghoon Lee, Yeonwoo Choi +1
Robot Operating System 2 (ROS 2), the de facto standard middleware framework for robots, runs each robot as a graph of nodes communicating over the Data Distribution Service (DDS),…
cs.RO2026
Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer
Sanghoon Lee, Jiyeong Chae, Kyung-Joon Park
Robot middleware faces a new role in the era of Physical AI. Learned policies, planners, and vision-language-action (VLA) models now enter deployed robots as causal participants on…