Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866918135087497216 |
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| author | Lee, Sanghoon Kang, Junha Park, Kyung-Joon |
| author_facet | Lee, Sanghoon Kang, Junha Park, Kyung-Joon |
| contents | 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 resource usage. Yet ROS 2 users lack clear guidance on safe policy combinations and validation processes prior to deployment, which often leads to trial-and-error tuning and unexpected runtime failures. To address these challenges, we analyze DDS Publisher-Subscriber communication over a life cycle divided into Discovery, Data Exchange, and Disassociation, and provide a user oriented tutorial explaining how 16 QoS policies operate in each phase. Building on this analysis, we derive a QoS dependency chain that formalizes inter-policy relationships and classifies 41 dependency violation rules, capturing constraints that commonly cause communication failures in practice. Finally, we introduce QoS Guard, a ROS 2 package that statically validates DDS XML profiles offline, flags conflicts, and enables safe, predeployment tuning without establishing a live ROS 2 session. Together, these contributions give ROS 2 users both conceptual insight and a concrete tool that enables early detection of misconfigurations, improving the reliability and resource efficiency of ROS 2 based robotic systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_03381 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification Lee, Sanghoon Kang, Junha Park, Kyung-Joon Networking and Internet Architecture Robotics 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 resource usage. Yet ROS 2 users lack clear guidance on safe policy combinations and validation processes prior to deployment, which often leads to trial-and-error tuning and unexpected runtime failures. To address these challenges, we analyze DDS Publisher-Subscriber communication over a life cycle divided into Discovery, Data Exchange, and Disassociation, and provide a user oriented tutorial explaining how 16 QoS policies operate in each phase. Building on this analysis, we derive a QoS dependency chain that formalizes inter-policy relationships and classifies 41 dependency violation rules, capturing constraints that commonly cause communication failures in practice. Finally, we introduce QoS Guard, a ROS 2 package that statically validates DDS XML profiles offline, flags conflicts, and enables safe, predeployment tuning without establishing a live ROS 2 session. Together, these contributions give ROS 2 users both conceptual insight and a concrete tool that enables early detection of misconfigurations, improving the reliability and resource efficiency of ROS 2 based robotic systems. |
| title | Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification |
| topic | Networking and Internet Architecture Robotics |
| url | https://arxiv.org/abs/2509.03381 |