Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Latency Analysis of ROS2 Multi-Node Systems   The Robot Operating System 2 (ROS2) targets distributed real-time systems and
is widely used in the robotics community. Especially in these systems, latency
in data processing and communication can lead to instabilities. Though being
highly configurable with respect to latency, ROS2 is often used with its
default settings.
  In this paper, we investigate the end-to-end latency of ROS2 for distributed
systems with default settings and different Data Distribution Service (DDS)
middlewares. In addition, we profile the ROS2 stack and point out latency
bottlenecks. Our findings indicate that end-to-end latency strongly depends on
the used DDS middleware. Moreover, we show that ROS2 can lead to 50% latency
overhead compared to using low-level DDS communications. Our results imply
guidelines for designing distributed ROS2 architectures and indicate
possibilities for reducing the ROS2 overhead.

3
The categories of this paper are: physics
20
The categories of this paper are: acc-phys
36
The categories of this paper are: cmp-lg
37
The categories of this paper are: supr-con
15
The categories of this paper are: nucl-ex
33
The categories of this paper are: plasm-ph
27
The categories of this paper are: comp-gas
21
The categories of this paper are: adap-org
12
The categories of this paper are: nucl-th
32
The categories of this paper are: atom-ph
5
The categories of this paper are: gr-qc
8
The categories of this paper are: hep-ex
4
The categories of this paper are: cond-mat
11
The categories of this paper are: hep-lat
13
The categories of this paper are: quant-ph
2
The categories of this paper are: math