DDS
An industrial-grade publish-subscribe communication middleware standard protocol used extensively in aviation, defense, finance, and other domains with stringent real-time and reliability requirements. ROS 2 uses DDS as its underlying communication layer.
Core Facts
ROS2 adopts DDS (Data Distribution Service) as its underlying communication middleware; DDS was developed by the OMG organization and uses a data-centric publish-subscribe model.
ROS2 uses DDS to achieve decentralized communication between nodes, no longer relying on a central Master node to coordinate all communication as ROS1 does.
ROS 2 has undergone architectural restructuring for real-time performance and embedded deployment, introducing the DDS communication middleware.
Timeline (last 90 days)
ROS 1 reached end of maintenance in 2025, and the community is fully migrating to ROS 2, which is based on the DDS communication layer.
ROS 2 uses the Data Distribution Service (DDS) as its default communication protocol, with nodes exchanging sensor readings, control commands, and status messages via publish/subscribe topics; under DDS default configurations, message authentication and access control are not mandatorily enabled.
Even in inter-process communication on the same machine, DDS zero-copy shared memory optimization is not enabled by default, and messages often undergo multiple memory copies
ros2_pulse requires no recompilation of nodes, does not join the DDS graph, and has extremely low overhead.
The ros2_pulse probe works entirely within the process, does not join the DDS graph as an additional subscriber, avoids serialization overhead, and can fully capture intra-process communication traffic.
DDS 由 OMG（Object Management Group）制定，采用去中心化的发布-订阅模式，通过自动发现机制让节点直接建立点对点连接，消除单点故障风险
All Facts (9)
ROS2 adopts DDS (Data Distribution Service) as its underlying communication middleware; DDS was developed by the OMG organization and uses a data-centric publish-subscribe model.
85%VerifiedROS2 uses DDS to achieve decentralized communication between nodes, no longer relying on a central Master node to coordinate all communication as ROS1 does.
75%VerifiedROS 2 has undergone architectural restructuring for real-time performance and embedded deployment, introducing the DDS communication middleware.
65%UnverifiedROS 1 reached end of maintenance in 2025, and the community is fully migrating to ROS 2, which is based on the DDS communication layer.
50%UnverifiedROS 2 uses the Data Distribution Service (DDS) as its default communication protocol, with nodes exchanging sensor readings, control commands, and status messages via publish/subscribe topics; under DDS default configurations, message authentication and access control are not mandatorily enabled.
50%UnverifiedEven in inter-process communication on the same machine, DDS zero-copy shared memory optimization is not enabled by default, and messages often undergo multiple memory copies
50%Unverifiedros2_pulse requires no recompilation of nodes, does not join the DDS graph, and has extremely low overhead.
50%UnverifiedThe ros2_pulse probe works entirely within the process, does not join the DDS graph as an additional subscriber, avoids serialization overhead, and can fully capture intra-process communication traffic.
50%UnverifiedDDS 由 OMG（Object Management Group）制定，采用去中心化的发布-订阅模式，通过自动发现机制让节点直接建立点对点连接，消除单点故障风险
50%