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Adaptive Bridge: A Proxy-Based Decoupling Layer for Mitigating DDS Backpressure in ROS 2

arxiv.org/abs/2608.15380

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Updated 2 h ago · first seen 11 Sept 2026

paper_01M294WYEDW505ATMP5VFPD6CQ

Published
6 Sept 2026
T2 · 2 h ago
arXiv
2608.15380
T2 · 2 h ago

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ValueValid from → toStatusSourceConfidenceExtractor
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. → currentcurrentHugging Face Hub (public pages, model cards, papers)T2mediumdeterministic

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