The Data Distribution Service (DDS) provides data-centric publish-subscribe messaging with a mandatory discovery protocol, enabling distributed applications to automatically locate and communicate with each other. ROS 2, the de facto middleware for robotic systems, adopts DDS as its communication backbone. In this paper, we demonstrate that the DDS discovery mechanism can be exploited to mount Denial-of-Service attacks against ROS 2 applications. By repeatedly triggering discovery traffic, an adversary can significantly inflate pipeline latency during runtime. We validate the attack on ROS 2 Humble with two widely used DDS implementations and a real UAV case study, confirming its effectiveness across different configurations.

NDRDL is a software requirements definition language (SRDL), designed as the source language of the software requirements analysis support system NDRASS. It considers both functional and nonfunctional requirements. To avoid the impreciseness and inconsistency of its informal semantics, this paper presents formal semantics of some functional constructs of NDRDL. Different ways and means are adopted according to the inherent characteristics of different constructs.