How to Monitor the data transfer

edit

If you are interested in a special topic you can use rostopic bw

rostopic bw --help
Usage: rostopic bw /topic

Options:
  -h, --help            show this help message and exit
  -w WINDOW, --window=WINDOW
                        window size, in # of messages, for calculating rate

Unfortunately it does only support a single topic, so you may need multiple calls into it for monitoring more than one topic.

Also a nice tool for monitoring your network interfaces useage and additional information is bmon. However, this will not explizitly so you the ROS-part of your network load:

sudo apt-get install bmon
bmon