Performance Evaluation of DDS Middleware Impact on Packet Loss and Latency Across QoS Profiles and Platforms

This article presents a performance analysis of the DDS middleware, focusing on packet loss and delay across various Quality of Service (QoS) configurations and network modes. A testbed was established with three physical nodes (Mac13, Mac15, and Raspberry Pi4) utilizing Gigabit Ethernet and Wi-Fi interfaces to configure diverse operational conditions. These experiments were conducted across an Ethernet and a 5 GHz WiFi network to evaluate the performance of DDS under deterministic and probabilistic network settings. A series of experiments were conducted utilizing various payload sizes (ranging from 92 to 1024 bytes) and distinct Quality of Service configurations, including Best Effort, B2STKA, R10TKL, and B10TKL. The results provide a summary of the timing of packet loss, the impact of QoS regulations on latency, and the performance trade-offs among operating systems (Linux, macOS, and Raspberry Pi OS).