Adaptive Bridge

A ROS 2 proxy that splits each topic into critical and noncritical streams, so a slow subscriber no longer stalls the publisher or other consumers.

Licenses

Code: Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit da1288e (opens in a new tab), on 16 Oct 2026.
Commercial use: Yes

Subscribes to an input topic and republishes each message onto separate critical and noncritical output topics.
Probes subscriber health (round-trip time, loss, jitter) and classifies consumers with a state machine using hysteresis.
Applies per-topic policies such as token-bucket rate limiting, stale-drops and queue-overflow drops when a consumer degrades.
Includes a safety supervisor that switches the global mode on queue pressure, callback lag or internal errors.
Publishes structured JSON diagnostics at 1 Hz and optionally signs classifier control messages with HMAC.
Ships a Docker-based evaluation harness that runs baseline-vs-bridge experiments under bursty packet loss using tc/netem.

Written by Robotheca from the project's README (opens in a new tab) at commit da1288e.

Difficulty: Advanced
Hardware it needs, as the project states it: ROS 2 Jazzy on Ubuntu 24.04 with Python 3.12 or newer; Docker is needed only for the evaluation harness.
How to start: The project's README (opens in a new tab)

Checked on GitHub on 16 Oct 2026.

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