Diving into DDS in ROS 2
In this section, we discuss more details about ROS 2’s core module, DDS, which works as the communication middleware for ROS 2, as shown in Figure 1.3.
What is DDS?
DDS [21] is a standard from the Object Management Group (OMG) [22] that was established in 2004 for standard publisher/subscriber communication. It is mainly used in mission-critical applications like air traffic control and management, financial trading, and complex telemetry systems. DDS enables scalable, real-time, dependable, and high-performance data exchange between the publisher and subscriber.
The OMG is a global, open-membership, non-profit consortium responsible for creating and maintaining a number of standards in technical and business domains.
Publisher/subscriber communication involves sending and receiving data. The publisher sends data, and the subscriber listens to and receives it.
The DDS standard mainly came into existence when a group of companies...