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The increased data transmission and number of devices involved incommunications among distributed systems make it challenging yet significantlynecessary to have an efficient and reliable networking middleware. In roboticsand autonomous systems, the wide application of ROS\,2 brings the possibilityof utilizing various networking middlewares together with DDS in ROS\,2 forbetter communication among edge devices or between edge devices and the cloud.However, there is a lack of comprehensive communication performance comparisonof integrating these networking middlewares with ROS\,2. In this study, weprovide a quantitative analysis for the communication performance of utilizednetworking middlewares including MQTT and Zenoh alongside DDS in ROS\,2 among amultiple host system. For a complete and reliable comparison, we calculate thelatency and throughput of these middlewares by sending distinct amounts andtypes of data through different network setups including Ethernet, Wi-Fi, and4G. To further extend the evaluation to real-world application scenarios, weassess the drift error (the position changes) over time caused by thesenetworking middlewares with the robot moving in an identical square-shapedpath. Our results show that CycloneDDS performs better under Ethernet whileZenoh performs better under Wi-Fi and 4G. In the actual robot test, the robotmoving trajectory drift error over time (96\,s) via Zenoh is the smallest. Itis worth noting we have a discussion of the CPU utilization of these networkingmiddlewares and the performance impact caused by enabling the security featurein ROS\,2 at the end of the paper.

Comparison of DDS, MQTT, and Zenoh in Edge-to-Edge and Edge-to-Cloud Communication for Distributed ROS 2 Systems