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Study of DDS and alternative middlewares

It is mentioned in many tutorials that it took an extensive research for ROS2 to land on DDS. Can this study be shared? (I have searched that for a while but could not find it…) It will be valuable to understand the pros and cons of DDS compared with alternative middlewares.

Here’s an older one with some links: ROS on DDS .

I am not sure if this helps, but here are some DDS performance benchmarks.

There is this white paper / report, this third party report that jives with our report, and this working group meeting.

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