If you find the code or data in this repository useful in your research, the related paper is available in arXiv:

@misc{zhang2023comparison,
    title={Comparison of DDS, MQTT, and Zenoh in Edge-to-Edge/Cloud Communication with ROS 2}, 
    author={Jiaqiang Zhang and Xianjia Yu and Sier Ha and Jorge Pena Queralta and Tomi Westerlund},
    year={2023},
    eprint={2309.07496},
    archivePrefix={arXiv},
    primaryClass={cs.RO}
}

rmw_comparison

Build ros2_tracing and performance_test

MQTT bridge: mqtt_client

ssh remote cmd cannot find environment variables SSH environment variables