发表机构
IIIT Bangalore（印度信息技术研究所班加罗尔分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对ROS 2中DDS引发的背压问题，提出Adaptive Bridge代理解耦层，通过主题拆分与自适应速率控制隔离关键/非关键订阅者，实验表明其可大幅降低关键订阅者延迟并维持发布者吞吐量。
AI 中文摘要
在使用DDS的ROS 2系统中，RELIABLE主题上的单个慢订阅者会引发背压，导致共享同一发布者的所有订阅者（包括对安全至关重要的本地节点）的吞吐量和延迟下降。我们提出了Adaptive Bridge，这是一种基于代理的解耦层，通过主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开来。该代理订阅原始主题并重新发布到两个独立的DDS写入器：一个用于关键消费者的RELIABLE写入器和一个用于非关键消费者的BEST_EFFORT写入器，从而打破背压传播的因果链。基于探针的分类器通过滞后性监控订阅者健康状况，并实时调整非关键速率限制。我们使用可复现的基于Docker的测试平台，在Gilbert-Elliot突发无线丢包场景下对系统进行评估。结果表明，该桥将关键订阅者的尾部延迟从最高15秒降至p95下的2毫秒以内，且无论损伤严重程度如何，都能将发布者吞吐量保持在30 Hz。
英文摘要
In systems built on Robot Operating System 2 (ROS 2) and using Data Distribution Service (DDS), a single network-impaired or throttled subscriber on a RELIABLE topic can cause backpressure that degrades throughput and latency for all other subscribers, including safety-critical ones sharing the publisher, because the publisher's DDS writer can no longer accept new samples. We present Adaptive Bridge, a proxy-based layer that decouples critical subscribers from degraded or noncritical ones, thereby isolating the critical path through topic splitting and dynamic rate control. The proxy acts as a middleman and subscribes to the original topic and republishes the messages to two independent DDS writers: one RELIABLE writer for critical nodes and one BEST EFFORT writer for noncritical or degraded nodes, thus isolating the degraded nodes and safeguarding the publisher and critical nodes from backpressure. A probe-based classifier actively monitors subscriber health through sampling with hysteresis and adjusts subscriber rate limits in real time. We evaluate the system under a Gilbert-Elliott bursty wireless loss model using a reproducible Docker-based harness. The results show that using the Adaptive Bridge in our evaluation harness reduces the critical subscriber tail p95 latency from up to 15 s to 1.55 ms across all impairment severities while preserving the publisher's configured throughput.
Comments6 pages, 5 figures, 20 references
