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
ROS_MASTER_URI ROS_IP
on the laptop which hasn't the roscore
Thank you for your help
Are you sure that ROS is the problem and not a slow connection?
@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.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
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 ofping IP_OF_LAPTOP, etc? Have you triediperf?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/nimbr...
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
Poseand some other msgs is nothing and should work fine on almost any network.Were you able to solve it? I had similar issues, but sending images over wifi. Thank you
Any progress? I am trying to send pointclouds over ROS_IP TCP. rostopic hz is 2hz on SLAVE while it is 15hz on MASTER