rosbridge 2.0 limit bandwith

asked 2015-03-13 06:25:42 -0600

narcispr
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updated 2015-03-13 06:27:01 -0600

Hi, I'm using rosbridge to have a web-based user interface with my robot. As some of the message I want to check are published quite fast, the amount of CPU and bandwith required is high. There is any option to limit the bandwith or the refresh rate? I'll be happy receiving only one every four messages or something similar.

I'm using ROS hydro and Ubuntu 12.04.

Thank you!

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answered 2015-03-13 07:19:44 -0600

rtoris288
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updated 2015-03-13 07:19:57 -0600

Take a look at the throttle_rate parameter in roslibjs ( https://github.com/RobotWebTools/rosl... ). This will place a delay between messages inside of rosbridge and decrease bandwidth.

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I've changed the default throttle_rate from 0 to 200 and now messages are displayed much slower. However, I think that the data transmitted between the robot and the website is still the same. Is there any other "throttle_rate" like param for the rosbridge webserver?

narcispr ( 2015-03-17 07:25:24 -0600 )edit

throttle_rate is sent directly to rosbridge server, no throttling is done client side. Passing this parameter through the client should have rosbridge limit the rate at which is sends that topic across the wire.

rtoris288 ( 2015-03-17 11:37:52 -0600 )edit

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answered 2015-03-13 06:52:35 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

I don't know of a way to do this within ros bridge itself, but you could perhaps use something like topic_tools, and then specifically the drop or throttle nodes.

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topic_tools throttle works fine. However, it is a pity that I've to republish all the topics that I want to include in my interface (this means one extra node for each topic). Thanks!

narcispr ( 2015-03-17 07:34:13 -0600 )edit

Yes, that is an unfortunate requirement. The only other option I see is changing the publication rate at the source, but that might not be an option with many nodes.

gvdhoorn ( 2015-03-17 07:59:56 -0600 )edit

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