Optimizing Communication in ROS 2 With QoS Parameters for System Advantages
Utpal Kumar, M Deekshitha, Pradeep Kumar Krishnamurthy, Jayavrinda Vrindavanam V, Gopal Sharma R Joshi, V. K. Hariharan · 2025
The rover project named Project Makardhwaj is a Martian rover designed to be deployed on the Martian surface in a scenario where the human explorers are already on the surface and are using rovers as an extension for their research, expedition, and discovery. Control plays an important role in the progress of any space project. The introduced rover control design discovers the ways of implementing a transposable and extensible control architecture and still keeping it user accessible with improved efficiency. It makes use of the Robot Operating System (ROS2) framework for achieving its goal of modular control design. The idea of segmented control not only makes debugging easy but also helps increase the simplicity of the integration of new functionalities and features. It explores the benefits of ROS2 QoS parameters and its advantages over the conventional methods. By leveraging ROS2, the introduced rover control architecture makes way for innovative and efficient robotic collaboration in human-led space exploration, for better scientific outcomes and operational flexibility.