Github: <a href=\"https://github.com/KaushalrajPuwar/adaptive-bridge\" rel=\"nofollow\">https://github.com/KaushalrajPuwar/adaptive-bridge</a></p>\n","updatedAt":"2026-09-11T17:23:44.797Z","author":{"_id":"6907cc03e77c7a753da36afa","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/6907cc03e77c7a753da36afa/bJ_keZ3p9tK4jQLqn4pjO.jpeg","fullname":"Kaushalraj","name":"puwar","type":"user","isPro":false,"isHf":false,"isHfAdmin":false,"isMod":false,"isUserFollowing":false}},"numEdits":0,"identifiedLanguage":{"language":"en","probability":0.7115733623504639},"editors":["puwar"],"editorAvatarUrls":["https://cdn-avatars.huggingface.co/v1/production/uploads/6907cc03e77c7a753da36afa/bJ_keZ3p9tK4jQLqn4pjO.jpeg"],"reactions":[],"isReport":false}}],"primaryEmailConfirmed":false,"paper":{"id":"2608.15380","authors":[{"_id":"6a8648aadb13816030683df7","user":{"_id":"6907cc03e77c7a753da36afa","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/6907cc03e77c7a753da36afa/bJ_keZ3p9tK4jQLqn4pjO.jpeg","isPro":false,"fullname":"Kaushalraj","user":"puwar","type":"user","name":"puwar"},"name":"Kaushalraj Puwar","status":"claimed_verified","statusLastChangedAt":"2026-08-21T12:58:00.615Z","hidden":false},{"_id":"6aa4383c7ba345d44ad1432a","name":"B. Thangaraju","hidden":false}],"publishedAt":"2026-09-06T00:00:00.000Z","submittedOnDailyAt":"2026-09-11T00:00:00.000Z","title":"Adaptive Bridge: A Proxy-Based Decoupling Layer for Mitigating DDS Backpressure in ROS 2","submittedOnDailyBy":{"_id":"6907cc03e77c7a753da36afa","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/6907cc03e77c7a753da36afa/bJ_keZ3p9tK4jQLqn4pjO.jpeg","isPro":false,"fullname":"Kaushalraj","user":"puwar","type":"user","name":"puwar"},"summary":"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.","upvotes":1,"discussionId":"6a8648aadb13816030683df8","githubRepo":"https://github.com/KaushalrajPuwar/adaptive-bridge","githubRepoAddedBy":"user","ai_summary":"A proxy layer isolates critical ROS 2 subscribers from degraded ones via topic splitting and dynamic rate control to eliminate DDS backpressure.","ai_keywords":["ROS 2","DDS","RELIABLE","BEST EFFORT","Adaptive Bridge","topic splitting","dynamic rate control","probe-based classifier","Gilbert-Elliott"],"ai_summary_model":"thinkingmachines/Inkling-Small","githubStars":0},"canReadDatabase":false,"canManagePapers":false,"canSubmit":false,"hasHfLevelAccess":false,"upvoted":false,"upvoters":[{"_id":"6907cc03e77c7a753da36afa","avatarUrl":"https://cdn-avatars.huggingface.co/v1/production/uploads/6907cc03e77c7a753da36afa/bJ_keZ3p9tK4jQLqn4pjO.jpeg","isPro":false,"fullname":"Kaushalraj","user":"puwar","type":"user"}],"acceptLanguages":["en"],"dailyPaperRank":0,"markdownContentUrl":"https://huggingface.co/buckets/huggingchat/papers-content/resolve/2608/2608.15380.md","query":{}}">
Adaptive Bridge: A Proxy-Based Decoupling Layer for Mitigating DDS Backpressure in ROS 2
Abstract
A proxy layer isolates critical ROS 2 subscribers from degraded ones via topic splitting and dynamic rate control to eliminate DDS backpressure.
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.
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Cite arxiv.org/abs/2608.15380 in a model README.md to link it from this page.
Cite arxiv.org/abs/2608.15380 in a dataset README.md to link it from this page.
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