arxivcs.ROcs.DCcs.NI2026-07-01
The Three Dimensions of ROS 2 Middleware
Sanghoon Lee, Taehun Kim, Angelo Corsaro, Kyung-Joon Park
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 (DDS) and Zenoh forming the core infrastructure for distributed robotic communication. Despite their…