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ROS doesn't have any convenience functions for measuring latency, but it's relatively simple to get a decent latency measurement by comparing the timestamp in the header with the current time.

The accuracy of this measurement will depend on:

• latency between the header timestamp and actual message transmission
• the actual network latency
• queuing latency on the receiving computer
• any clock offset between the sending and receiving computer
• maybe a few other factors

If you're trying to measure packet latency there's really no substitute for understanding how much latency and jitter your system can tolerate, and doing your research.