Analyzing Interoperability and Security Overhead of ROS2 DDS Middleware
Author
Abstract

Middleware Security - Robot Operating System 2 (ROS2) is the latest release of a framework for enabling robot applications. Data Distribution Service (DDS) middleware is used for communication between nodes in a ROS2 cluster. The DDS middleware provides a distributed discovery system, message definitions and serialization, and security. In ROS2, the DDS middleware is accessed through an abstraction layer, making it easy to switch from one implementation to another. The existing middleware implementations differ in a number of ways, e.g., in how they are supported in ROS2, in their support for the security features, their ease of use, their performance, and their interoperability. In this work, the focus is on the ease of use, interoperability, and security features aspects of ROS2 DDS middleware. We compare the ease of installation and ease of use of three different DDS middleware, and test the interoperability of different middleware combinations in simple deployment scenarios. We highlight the difference that enabling the security option makes to interoperability, and conduct performance experiments that show the effect that turning on security has on the communication performance. Our results provide guidelines for choosing and deploying DDS middleware on a ROS2 cluster.

Year of Publication
2022
Date Published
jun
Publisher
IEEE
Conference Location
Vouliagmeni, Greece
ISBN Number
978-1-66540-673-4
URL
https://ieeexplore.ieee.org/document/9837282/
DOI
10.1109/MED54222.2022.9837282
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