[seren]

What is the benefit of using TNS, which looks like a new protocol requiring specific HW ? versus using Ethercat for example which has similar cycle time I believe.

I am not familiar with ROS 2, there is only a DDS backend and no ethercat backend ?

It seems at least one company is looking to this approach : https://www.adlinktech.com/en/software-ethercat-ros2-amr-dev...

OK I see the point if you have a slow ROS2 implementation that is up to the task you can use a dedicated FPGA HW to implement RTPS under DDS to get more predictable timings.

(And this is how a new standard was born)