Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration

CHOVET, Loick; GARCIA, Gabriel; BERA, Abhishek; RICHARD, Antoine; Kazuya Yoshida; OLIVARES MENDEZ, Miguel Angel

doi:10.1007/s10846-024-02211-2

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Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration

CHOVET, Loick; GARCIA, Gabriel; BERA, Abhishek et al.

2025 • In Journal of Intelligent and Robotic Systems

Peer Reviewed verified by ORBi Dataset

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https://hdl.handle.net/10993/64125

DOI
10.1007/s10846-024-02211-2

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Keywords :

ROS2; MRS; Decentralized; RMW; Mesh Network

Abstract :

[en] Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series of international agreements, have further catalyzed this progress by fostering cooperation in space exploration, emphasizing the use of cutting-edge technologies. In parallel, companies across various sectors’ widespread adoption of the Robot Operating System 2 (ROS 2) underscores its robustness and versatility. This paper evaluates the performances of available ROS 2 MiddleWare (RMW), such as FastRTPS, CycloneDDS and Zenoh, over a mesh network with a dynamic topology. The final choice of RMW is determined by the one that would most fit the scenario: an exploration of the extreme extraterrestrial environment using a MRS. The conducted study in a real environment highlights Zenoh as a potential solution for future applications, showing a reduced delay, reachability, data overhead and CPU usage while being competitive on the RAM usage over a dynamic mesh topology.

Disciplines :

Computer science

Author, co-author :

CHOVET, Loick ^✱; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics

GARCIA, Gabriel ^✱; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics

BERA, Abhishek ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics

RICHARD, Antoine ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics

Kazuya Yoshida; Tohoku university > Space Robotic Lab

OLIVARES MENDEZ, Miguel Angel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics

^✱ These authors have contributed equally to this work.

External co-authors :

yes

Language :

English

Title :

Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration

Publication date :

2025

Journal title :

Journal of Intelligent and Robotic Systems

ISSN :

0921-0296

eISSN :

1573-0409

Publisher :

Springer, Netherlands

Special issue title :

Collection on Space Robotics

Peer reviewed :

Peer Reviewed verified by ORBi

Focus Area :

Computational Sciences

Development Goals :

9. Industry, innovation and infrastructure

FnR Project :

[C20/IS/14783405/FiReSpARX/Fridgen]
[CAESAR-XR/Gabriel/17679211]

Funders :

FNR - Fonds National de la Recherche

Data Set :

https://github.com/Gabryss/RMW-Mesh-Experiments

Available on ORBilu :

since 07 February 2025

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