5 papers
When Discovery Becomes a Storm: A ROS 2 Discovery Model for Wireless Robotic Networks
Yeonwoo Choi, Sanghoon Lee, Kyung-Joon Park
In Robot Operating System 2 (ROS 2), Data Distribution Service (DDS) participants must discover one another before exchanging data. In wireless environments, delayed or lost discov…
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),…
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…
Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification
Sanghoon Lee, Junha Kang, Kyung-Joon Park
Robot Operating System 2 (ROS 2) relies on the Data Distribution Service (DDS), which offers more than 20 Quality of Service (QoS) policies governing availability, reliability, and…
Probabilistic Latency Analysis of the Data Distribution Service in ROS 2
Sanghoon Lee, Hyung-Seok Park, Jiyeong Chae +1
Robot Operating System 2 (ROS 2) is now the de facto standard for robotic communication, pairing UDP transport with the Data Distribution Service (DDS) publish-subscribe middleware…