{"ID":2875064,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.03381","arxiv_id":"2509.03381","title":"Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification","abstract":"Robot Operating System 2 (ROS 2) relies on the Data Distribution Service (DDS), which offers more than 20 Quality of Service (QoS) policies governing availability, reliability, and resource usage. Yet ROS 2 users lack clear guidance on safe policy combinations and validation processes prior to deployment, which often leads to trial-and-error tuning and unexpected runtime failures. To address these challenges, we analyze DDS Publisher-Subscriber communication over a life cycle divided into Discovery, Data Exchange, and Disassociation, and provide a user oriented tutorial explaining how 16 QoS policies operate in each phase. Building on this analysis, we derive a QoS dependency chain that formalizes inter-policy relationships and classifies 41 dependency violation rules, capturing constraints that commonly cause communication failures in practice. Finally, we introduce QoS Guard, a ROS 2 package that statically validates DDS XML profiles offline, flags conflicts, and enables safe, predeployment tuning without establishing a live ROS 2 session. Together, these contributions give ROS 2 users both conceptual insight and a concrete tool that enables early detection of misconfigurations, improving the reliability and resource efficiency of ROS 2 based robotic systems.","short_abstract":"Robot Operating System 2 (ROS 2) relies on the Data Distribution Service (DDS), which offers more than 20 Quality of Service (QoS) policies governing availability, reliability, and resource usage. Yet ROS 2 users lack clear guidance on safe policy combinations and validation processes prior to deployment, which often l...","url_abs":"https://arxiv.org/abs/2509.03381","url_pdf":"https://arxiv.org/pdf/2509.03381v1","authors":"[\"Sanghoon Lee\",\"Junha Kang\",\"Kyung-Joon Park\"]","published":"2025-09-03T14:57:21Z","proceeding":"cs.NI","tasks":"[\"cs.NI\",\"cs.RO\"]","methods":"[]","has_code":false}