ROS 2’s configuration surface is small but load-bearing. Three pages cover the things you’ll actually adjust: DDS domain isolation (for running multiple SITL instances on one host without interference), environment variables (ROS_DOMAIN_ID, RMW_IMPLEMENTATION, ROS_LOCALHOST_ONLY, and the CycloneDDS XML profile), and QoS profiles (BestEffort vs Reliable, depth, durability — what to set per-topic-type).
If you’re running a single SITL instance and not pushing on latency, ROS 2’s defaults work fine and you don’t need any of this. The settings start mattering when you want to run two SITL instances side-by-side (DDS domain isolation), when sensor latency from DDS overhead becomes measurable, or when you need certain topics to not drop messages under congestion (QoS reliability).
For the analytical/design-level treatment of these same settings — DDS RMW choice, QoS recommendations, transport overhead numbers — see ROS 2 latency tuning. The pages below are the operational reference: what to set where.
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