Selecting a ROS 2 RMW for a Wi-Fi Mobile Robot Fleet
Pick the right ROS 2 RMW for a Wi-Fi robot fleet: Fast DDS with Discovery Server avoids multicast issues and stays license-free on ROS 2 Jazzy.
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rosFastDDS discovery cache behavior change in ROS 2 when nodes terminate abruptly
Goal: identify FastDDS configuration parameters that minimize the duration of stale participant entries after a node is terminated abruptly without generating excessive multicast traffic. Constraints include variation across DDS implementations (FastDDS vs CycloneDDS), dependence on network latency, and the trade‑off between rapid dead‑node detection and hea