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Hun0130/README.md

Sanghoon Lee · ROSanghoon

Postdoctoral Researcher at DGIST · ROS 2 middleware and reliable robotic systems

I build tools for robot communication and middleware that helps learned controllers operate reliably. My research connects ROS 2, DDS, and Zenoh with Cyber-Physical AI: making intelligent systems work under real network and resource constraints.

Website · Google Scholar · LinkedIn · Email

Tools I work on

Project What you can do with it Explore
ros2probe Inspect ROS 2 middleware traffic, reconstruct the graph, and examine topic metrics through a CLI or desktop GUI. Demo & project page · Install
ROS 2 Harness Profile Constrain learned-controller outputs, reject stale commands, and switch to a fallback through ROS 2 interfaces. Project & experiments · Paper
DDS Optimizer Generate DDS XML profiles for large-payload communication over wireless networks. Code & usage · Paper
QoS Guard Check ROS 2 QoS configurations for conflicts before deployment. Documentation · Paper
LIMA Coordinate dense multi-robot traffic using global routes and local intersection control; simulate and replay warehouse scenarios. Project page · Code & usage

These projects are developed with collaborators at DGIST CSI Lab. I am a co-first author and project contact for ros2probe, a co-first author of LIMA, and the first author of the Harness Engineering, wireless DDS optimization, and QoS Guard papers. The linked papers and project pages credit the full research teams.

ros2probe desktop demo showing the ROS graph, topic metrics, and recording

Recent public work

Papers with research code

Research Publication / status Code & project
Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer ACM Middleware 2026, Big Ideas · accepted ROS 2 Harness Profile · Project & experiments
ros2probe: Non-intrusive, Kernel-selective Observability for Robot Operating System 2 Middleware ACM Middleware 2026 · accepted ros2probe · Project & demo
Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification IEEE Internet of Things Journal · accepted QoS Guard · Documentation
Optimizing ROS 2 Communication for Wireless Robotic Systems Preprint, 2025 DDS Optimizer · Paper
LIMA: Local Intersection Marshalling Architecture for Scale-Independent Multi-Agent Path Finding in Dense Warehouses Research manuscript Code · Project page · Page source
Deep Reinforcement Learning-driven Scheduling in Multijob Serial Lines: A Case Study in Automotive Parts Assembly IEEE Transactions on Industrial Informatics, 2024 PSE_DQN
Real-Time Controller Reconfiguration for Delay-Resilient Cyber-Physical Systems IEEE Access, 2022 Dynamic-gain-for-delay

Full publications, talks, and research background →

I welcome discussions with developers and researchers working on robotic communication and dependable Physical AI. For tool questions and reproducible bugs, please use the relevant repository's issue tracker.

Follow @Hun0130 for ROS 2 middleware tools, reproducible experiments, and practical research notes.

Pinned Loading

  1. csi-dgist/DDS-Optimizer-for-Wireless-Large-Payload-Transfer csi-dgist/DDS-Optimizer-for-Wireless-Large-Payload-Transfer Public

    Generate DDS XML profiles for large-payload ROS 2 communication over wireless networks.

    Python 79 1

  2. csi-dgist/ros2probe csi-dgist/ros2probe Public

    Observe ROS 2 DDS and Zenoh traffic, inspect graphs and topic metrics, and record messages with a CLI or desktop GUI.

    Rust 96 10

  3. csi-dgist/QoS-Guard csi-dgist/QoS-Guard Public

    Check ROS 2 QoS configurations for dependency conflicts before deployment, using offline static analysis.

    Python 27 4