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From the engineers at Cerulion

Engineering notes.

How robot data moves. Where latency comes from. How to investigate it.

internals

How ROS 2's DDS layer actually works

Trace a ROS 2 message through discovery, serialization, transport, and callback delivery. Then measure the path your robot actually uses.

5 min read

Raveen Kariyawasam

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PublisherSerializeCDR bufferTransportSubscriberDeserialize
A serialized DDS path, from message to message.

More notes

  • guides

    ROS 2 QoS: a field guide

    Match publisher and subscriber policies, inspect the active profiles, and make communication failures visible.

    6 min readRaveen Kariyawasam
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    Publisher offersBest effortSubscriber requestsReliable
    Discovered. Not connected. Reliability policies must be compatible.