ROS2 How to limit throughput?

asked 2018-11-15 06:21:17 -0500

tompe17 gravatar image

I have problem with 4 computers on WiFi running ROS2 nodes and the WiFI performance is killed. I would like to limit the bandwidth used by ROS2 so how do I do that?

I have tested with a DEFAULT_FASTRTPS_PROFILES.xml looking like:

<?xml version="1.0" encoding="UTF-8" ?>
<profiles>
    <participant profile_name="participant_profile" is_default_profile="true">
        <rtps>
            <builtin>
              <throughputController>
                <bytesPerPeriod>10000</bytesPerPeriod>
                <periodMillisecs>1000</periodMillisecs>
              </throughputController>
            </builtin>
        </rtps>
    </participant>

I have an end tag but the editing window is to small so I cannot mark the whole code...

Is this the correct syntax for this file? Where can I find working examples of this file? How can you confirm that this file is loaded properly?

The above does not seem to work since the ping time at least is killed becoming around 1s.

I am running the latest release of ROS2.

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Comments

Follow-up of Limit throughput (how to?). on ROS Discourse.

gvdhoorn gravatar imagegvdhoorn ( 2018-11-15 08:48:56 -0500 )edit