ROS 2中用代理层分离关键与非关键订阅者，解决数据阻塞问题。
Adaptive Bridge: A Proxy-Based Decoupling Layer for Mitigating DDS Backpressure in ROS 2
- 通过话题拆分和自适应速率控制，隔离关键与非关键订阅者
- 关键订阅者尾延迟从15秒降至2毫秒以下，保持30Hz发布吞吐量
- 适用于高可靠性要求的机器人系统，尤其无线环境波动场景
在使用DDS的ROS 2系统中，单个慢速订阅者在可靠主题上可能引发背压，导致所有共享同一发布者的订阅者性能下降，包括安全关键的本地节点。本文提出Adaptive Bridge，一种基于代理的解耦层，通过话题拆分和自适应速率控制，将关键订阅者与非关键订阅者隔离。代理订阅原始主题，并分别以RELIABLE和BEST_EFFORT模式向两个独立的DDS写入器重发布，切断背压传播路径。基于探测的分类器结合滞后机制实时监控订阅者健康状态，并动态调整非关键订阅者的速率限制。我们使用可复现的Docker化测试框架，在吉尔伯特-埃利奥特突发丢包的无线环境下评估系统。结果表明，该桥接机制将关键订阅者的尾延迟从最高15秒降低至p95下低于2毫秒，且无论信道恶化程度如何，均能保持30 Hz的发布吞吐量。
原文摘要 · Abstract (English)
In ROS 2 systems using DDS, a single slow subscriber on a RELIABLE topic can cause backpressure that degrades throughput and latency for all subscribers sharing the same publisher, including safety-critical local nodes. We present Adaptive Bridge, a proxy-based decoupling layer that isolates critical subscribers from noncritical ones through topic splitting and adaptive rate control. The proxy subscribes to the original topic and republishes onto two independent DDS writers, one RELIABLE for critical consumers and one BEST_EFFORT for noncritical consumers, breaking the causal chain of backpressure propagation. A probe-based classifier monitors subscriber health with hysteresis and adjusts noncritical rate limits in real time. We evaluate the system under Gilbert-Elliot bursty wireless loss using a reproducible Docker-based harness. Results show the bridge reduces critical subscriber tail latency from up to 15 seconds to under 2 milliseconds at p95 and preserves publisher throughput at 30 Hz regardless of impairment severity.
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