6 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…
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 (…
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…
Optimizing ROS 2 Communication for Wireless Robotic Systems
Sanghoon Lee, Taehun Kim, Jiyeong Chae +1
Wireless transmission of large payloads, such as high-resolution images and LiDAR point clouds, is a major bottleneck in ROS 2, the leading open-source robotics middleware. The def…