tf2 network bandwidth & QoS options with ROS2
Hello,
This is a two part question:
Is there a comprehensive documentation for the way
/tf
works with various networking DDS? I am trying to get a grasp on the way bandwidth and latency will scale given multiple publishers sending various tf frames at different rates. Am I correct in assuming thatros2 topic bw
will report stats only for this temp subscriber, and won't capture _all_ traffic on tf?Does
tf2
have similar/corresponding QoS settings that can be specified? Or am I completely incorrect in my understanding of the way the tf library works with ROS?
Thanks in advance.
Further to (2), it seems that the default settings are
transient_local
(as opposed tovolatile
), andreliable
(as opposed tobest effort
), from here. Can these be configured? Does it make sense to change these?