In a benchmark of ROS2 middleware, same-domain communication usually beat cross-domain communication, eProsima Fast-DDS lagged most on cross-domain transfers, and no vendor won across all conditions.
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Performance Evaluation of ROS2-DDS middleware implementations facilitating Cooperative Driving in Autonomous Vehicle
In a benchmark of ROS2 middleware, same-domain communication usually beat cross-domain communication, eProsima Fast-DDS lagged most on cross-domain transfers, and no vendor won across all conditions.