Hi @facontidavide
Publish-Subscribe architecture with no brokers comes with pros and cons. Better latency and throughput because you don’t need to route the information through a broker & automatic and plug-and-play discovery.
But P2P discovery means the required number of messages is of the order of the square of the number of peers, so it comes to a price when you have a lot of nodes. You can mitigate the effect by a good implementation of the process, but when you have a lot of nodes (25 is not a lot), the discovery could be very chatty. We don’t deny that, and that is why for this and other situations we have the discovery server.
The discovery server is based on the same building topics of the DDS standard, and it does not add any complexities. Moreover, we are talking at the OMG about how to incorporate this mechanism into the DDS/RTPS specs. It is not a Single Point of Failure, as you can have several redundant discovery servers.
Yes, discovery problems in large systems can happen: it is not a particular implementation, it is not DDS, it is the very nature of the architecture. And then, you need to fine-tune your system, use tools such as the Discovery Server, or just talk to us.
1 Like
