分析ROS 2无线通信延迟，给出可调参数的理论依据
Probabilistic Latency Analysis of the Data Distribution Service in ROS 2
- 用离散状态模型分析DDS重传过程，建模可靠传输行为
- 在270种场景下验证，预测延迟与实测结果高度一致
- 适合工业机器人开发者优化无线通信的可靠性与延迟
机器人操作系统2（ROS 2）已成为机器人通信的事实标准，结合UDP传输与数据分发服务（DDS）的发布-订阅中间件。DDS通过周期性心跳请求缺失数据的确认，并触发选择性重传以实现可靠性。在丢包率高的无线网络中，心跳周期、IP分片和重传间隔之间的强耦合关系使端到端延迟行为难以预测，导致实践者缺乏调参指导。为此，本文提出概率延迟分析（PLA），采用离散状态方法对ROS 2 DDS通信的可靠传输过程进行解析建模。通过系统分析中间件层与传输层事件，PLA计算未确认消息的稳态概率分布及重传延迟。我们在270种场景下验证了PLA，涵盖不同包投递率、消息大小、发布间隔与重传间隔的变化，结果表明分析预测与实验数据高度吻合。研究为无线工业机器人中可靠性、延迟与性能的系统优化提供了理论基础。
原文摘要 · Abstract (English)
Robot Operating System 2 (ROS 2) is now the de facto standard for robotic communication, pairing UDP transport with the Data Distribution Service (DDS) publish-subscribe middleware. DDS achieves reliability through periodic heartbeats that solicit acknowledgments for missing samples and trigger selective retransmissions. In lossy wireless networks, the tight coupling among heartbeat period, IP fragmentation, and retransmission interval obscures end to end latency behavior and leaves practitioners with little guidance on how to tune these parameters. To address these challenges, we propose a probabilistic latency analysis (PLA) that analytically models the reliable transmission process of ROS 2 DDS communication using a discrete state approach. By systematically analyzing both middleware level and transport level events, PLA computes the steady state probability distribution of unacknowledged messages and the retransmission latency. We validate our PLA across 270 scenarios, exploring variations in packet delivery ratios, message sizes, and both publishing and retransmission intervals, demonstrating a close alignment between analytical predictions and experimental results. Our findings establish a theoretical basis to systematically optimize reliability, latency, and performance in wireless industrial robotics.
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