ROS over network is slow

Hello,

we are using ROS over network with fast topics (100Hz) We have the problem that we get only a few topics (about ~1 second ) Anyone else has the same problems or has an idea how we can solve this ?

We added

ROSMASTERURI ROS_IP

on the laptop which hasn't the roscore

Thank you for your help

Asked by Hunk on 2017-05-24 02:13:32 UTC

Comments

Are you sure that ROS is the problem and not a slow connection?

Asked by NEngelhard on 2017-05-24 02:43:24 UTC

@Hunk: could you please provide a bit more information? What sort of network are we talking about here? Which ROS transport are you using? What types of topics (large point clouds or small JointStates, etc)? Without more information it's going to be difficult to suggest anything.

Asked by gvdhoorn on 2017-05-24 03:04:16 UTC

we have really small messages like pose. And how i can determe which ros transport I'm using? I use ros kinetic with default settings

Asked by Hunk on 2017-05-24 03:44:43 UTC

Then you're using TCPROS.

In any case: please provide more info on your network: wireless, wired, celullar, etc. And more info on how you configured everything: IPs, values of environment variables like ROS_IP. What is the output of ping IP_OF_LAPTOP, etc? Have you tried iperf?

Asked by gvdhoorn on 2017-05-24 04:08:02 UTC

If you do not need all published topics you can try http://wiki.ros.org/multimaster. If you want to use this package you should get the source code and make it a catkin package. You could also try this one http://www.ros.org/news/2015/10/nimbro-network-multi-master-ros-network-solution.html

Asked by angeltop on 2017-05-25 02:26:53 UTC

I think it would be good to first figure out what is actually going on in @Hunk's network. Multimaster isn't going to help much if - for instance - he's using a (very) noisy wireless link. 100 Hz of Pose and some other msgs is nothing and should work fine on almost any network.

Asked by gvdhoorn on 2017-05-25 02:35:39 UTC

Were you able to solve it? I had similar issues, but sending images over wifi. Thank you

Asked by Rosbq on 2019-05-01 05:55:49 UTC

Any progress? I am trying to send pointclouds over ROS_IP TCP. rostopic hz is 2hz on SLAVE while it is 15hz on MASTER

Asked by darshb34 on 2020-04-28 18:28:39 UTC

@darshb34: pointclouds result in many tenths of MB/sec of traffic. The OP in this question was transmitting geometry_msgs/Pose at 100 Hz, which is at most a few KB/sec. That's not really comparable.

I would suggest you post your question as a new thread, perhaps referring to this one.

Asked by gvdhoorn on 2020-04-29 03:04:17 UTC

Hi any luck on this?

I was using a CAT6 wire to transmit PWM data from a PC to my raspberry pi via ROS_IP to control my 6 DC motors. I realize the signals that was received by my pi are way too slow. The data are in Float 32.

Asked by loguna on 2021-03-30 04:13:59 UTC