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This paper presents a comparative analysis of various networking middlewares, specifically DDS, MQTT, and Zenoh, in the context of distributed ROS 2 systems for edge-to-edge and edge-to-cloud communication. The study evaluates communication performance metrics such as latency and throughput across different network setups (Ethernet, Wi-Fi, and 4G) and assesses the drift error in robot trajectories. Results indicate that CycloneDDS outperforms in Ethernet environments, while Zenoh excels in Wi-Fi and 4G scen

Author

aymen.ayari2526.isi

Language

EN