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

Loïck Pierre Chovet, Gabriel Manuel Garcia, Abhishek Bera, Antoine Richard, Kazuya Yoshida, Miguel Angel Olivares-Mendez

TL;DR

This work investigates how different ROS 2 middlewares (FastRTPS, CycloneDDS, and Zenoh) perform over a dynamic mesh network for multi-robot systems in extreme environments, such as lunar exploration. The study uses a real-world, robot-agnostic REALMS2-inspired architecture with HWMP+ mesh routing to compare data throughput, reachability, delay, and resource usage under topology changes. Results show Zenoh frequently offers lower delays, improved reachability, and reduced CPU usage, though with some higher RAM overhead, making it advantageous for energy-efficient, robust connectivity in space-like missions. The findings provide practical guidance for selecting ROS 2 RMWs in mesh networks for MRS in planetary exploration and outline directions for extending the evaluation to larger messages and enhanced connectivity optimization.

Abstract

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, the widespread adoption of the Robot Operating System 2 (ROS 2) by companies across various sectors 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 fit the most the scenario: an exploration of the extreme extra-terrestrial 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, and CPU usage while being competitive on data overhead and RAM usage over a dynamic mesh topology

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

TL;DR

This work investigates how different ROS 2 middlewares (FastRTPS, CycloneDDS, and Zenoh) perform over a dynamic mesh network for multi-robot systems in extreme environments, such as lunar exploration. The study uses a real-world, robot-agnostic REALMS2-inspired architecture with HWMP+ mesh routing to compare data throughput, reachability, delay, and resource usage under topology changes. Results show Zenoh frequently offers lower delays, improved reachability, and reduced CPU usage, though with some higher RAM overhead, making it advantageous for energy-efficient, robust connectivity in space-like missions. The findings provide practical guidance for selecting ROS 2 RMWs in mesh networks for MRS in planetary exploration and outline directions for extending the evaluation to larger messages and enhanced connectivity optimization.

Abstract

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, the widespread adoption of the Robot Operating System 2 (ROS 2) by companies across various sectors 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 fit the most the scenario: an exploration of the extreme extra-terrestrial 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, and CPU usage while being competitive on data overhead and RAM usage over a dynamic mesh topology
Paper Structure (26 sections, 2 equations, 16 figures, 4 tables)

This paper contains 26 sections, 2 equations, 16 figures, 4 tables.

Table of Contents

  1. Introduction
  2. State of the Art
  3. Decentralized MRS and ROS 2
  4. Mesh Networks
  5. AODV
  6. B.A.T.M.A.N Advanced
  7. HWMP and HWMP+
  8. Exploring the performances of ROS 2
  9. Research Gap
  10. Architecture Proposed
  11. Network Architecture
  12. ROS 2 Architecture
  13. Problem Scenario
  14. Experiments
  15. Experimental Setup
  16. ...and 11 more sections

Figures (16)

  • Figure 1: Mesh Network architecture
  • Figure 2: Experimental robotic platform
  • Figure 3: Experimental Scenarios
  • Figure 4: Urban terrain used for the first experimental scenario, the width of the visible environment is 175m
  • Figure 5: Global overview of the experiment
  • ...and 11 more figures