Impact of ROS 2 Node Composition in Robotic Systems

The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in robotic framework. Several new types nodes and executor models are integral to control where, how, when information processed computational graph. This letter explores benchmarks one these node - Component which allows be composed manually or dynamically into processes while retaining separation concerns codebase for distributed development. Composition shown achieve high degree performance optimization, particularly valuable resource-constrained systems sensor processing pipelines, enabling tasks that would not otherwise possible 2. In this work, we briefly introduce significance design composition, then our contribution benchmarking provided analyze its impact on systems. Its compelling influence through several experiments latest Long Term Support (LTS) distribution, Humble Hawksbill.