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ROS2 performance and chaining of nodes

asked 2017-05-29 22:44:51 -0500

Hardik Shah gravatar image

Hi, I am new to ros2. I have used ros and we are planning to migrate to ros2. I have few questions about the ros2 performance. Suppose i have below chain

camera --> Processing --> Display.

If I run camera at 30FPS, it gives the frames out and camera node publishes the frames at 30FPS and I want to make sure that processing callback gets called immediately once camera node publishes frames, and display callback gets called immediately once processing node publishes. the processes frame.

So in nut shell I will just run camera at 30FPS and every other node should be operating as chained event based on camera event.

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Can you make your question more explicit? Right now this is more of a statement.

gvdhoorn gravatar image gvdhoorn  ( 2017-05-30 04:17:35 -0500 )edit

Hi, If I publish camera frame at t0, what time my subscriber callback will be called. Ideally it should be t0 + x microsecond. In other words how is the "waiting for message" implemented in ROS2 compared to ROS1. Suppose I run my publish loop at 1KHz every message roughly will be published at 10ms,

Hardik Shah gravatar image Hardik Shah  ( 2017-05-30 05:24:21 -0500 )edit

1 Answer

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answered 2018-12-14 19:25:40 -0500

tfoote gravatar image

ROS2 publish subscribe pipelines are event driven and as long as your deployment has threads available the data should be processed immediately after the message is published. The delay incurred is dependent on your hardware, choice of middleware and middleware configuration as well as deployment configuration.

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Asked: 2017-05-29 22:44:51 -0500

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Last updated: Dec 14 '18