WiROS: A QoS Software Solution for ros2 in a WiFi Network

Robot Operating System (ROS) has played a pivotal role as a communication middleware among different peripherals, including sensors and actuators of robotics and other systems, with the advancement of connected systems around the globe. The development of DDS ( Data Distribution System ) based ROS2 has also increased its popularity for applications involving multi-bot communication over the network. However, latency and throughput become bottlenecks for latency-critical applications such as remote surgery and remote driving in dense data traffic. ROS2-based end systems identify the data flow of their sensors' & actuators' messages as topics. A middleware solution must be designed to ensure the QoS ( Quality of Service ) required by the topics associated with the latency-critical applications. We perform a comparative study of the target application's topic affected by other existing topics in the network. A software solution to ensure the desired QoS to the applications in a static traffic scenario has been developed based on the scheduling of the message data flow and WiFi's EDCA parameters' configurations.