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scalability of ROS

asked 2015-04-05 23:27:36 -0600

prince gravatar image

Dear Friends, I was looking for some study on scalability of ROS for multi-robot application. Has anyone conducted any study till date? I have looked to multi-master package. Any pointers to design documents will also b helpful.

Regards Prince

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answered 2015-04-06 11:18:04 -0600

ntd gravatar image

Re number of connections: AFAIK, all roscpp's IO happens in a select loop ( https://github.com/ros/ros_comm/blob/... ), so one thread can service many connections. The select() call, though is O(n) in the number of connections. There is a Linux specific epoll() which handles large numbers of connections more efficiently. This page discusses some general networking/scalability issues: http://www.kegel.com/c10k.html .

Re latency: roscpp message latency is ~100us on recent Intel CPUs under Linux PREEMPT_RT. This is 10-20 times slower than direct kernel sockets and IPC. Benchmark code: https://github.com/ndantam/ipcbench Some discussion in our recent article: http://dx.doi.org/10.1109/MRA.2014.23... .

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Is there a design / RFP document from ROS?

prince gravatar imageprince ( 2015-04-08 20:31:58 -0600 )edit

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Asked: 2015-04-05 23:27:36 -0600

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Last updated: Apr 06 '15