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On what factors is the communication protocol selected ? be it TCP or UDP

Default is TCP (ie: reliable).

Unless user specifies the unreliable transport hint.

Are there some other protocols supported as well ?

No, not by default.

There are some alternative transports available, but you'd have to install those yourself (they're old, but see ethzasl_message_transport fi).

See also ROS/Technical Overview - Topic Transports.

Note: this only answers the question in the context of ROS 1.


On what factors is the communication protocol selected ? be it TCP or UDP

Default is TCP (ie: reliable).

Unless user specifies the unreliable transport hint.

Are there some other protocols supported as well ?

No, not by default.

There are some alternative transports available, but you'd have to install those yourself (they're old, but see ethzasl_message_transport fi).

See also ROS/Technical Overview - Topic Transports.