ros2 Dashing: Message frequency lower than expected [closed]

asked 2019-09-29 05:47:54 -0500

EgalYue gravatar image

Hi,
I also met the same problem as described as: https://github.com/ros2/ros1_bridge/i....

Required Info:
Ubuntu 18.04 in one Docker Container on PC and Ubuntu 18.04 on Xaviar
ROS version: ROS1 melodic, ROS2 Dashing
PC and Xavier under same Network situation

Steps to reproduce issue:
I have one ROS1.0 bag file test.bag, it contains topics, e.g. /camera/post1/compressed, /velodyne_points. Used rostopic hz /camera/post1/compressed and rostopic hz /velodyne_points to observe the frequency, both are 10 Hz.
But when I played the test.bag with ROS2.0 in Docker container on PC, ros2 bag play -s rosbag_v2 test.bag, the frequency of camera is about 9.3Hz and the frequency of /velodyne_points is about 8 or 9 Hz.

When I played the same bag on Xavier with ROS2.0, the frequency is even lower (camera is about 5HZ and /velodyne_points is about 6 or 7 Hz ).
I know that fastrtps does not support large data, so I also used opensplice to test. RMW_IMPLEMENTATION=rmw_opensplice_cpp ros2 bag play -s rosbag_v2 test.bag
The situation was improved, /camera/post1/compressed on xavier this time is about 10Hz, but /velodyne_points is still lower than 10Hz, about 8 Hz.

Changing DDS does not solve the problem totally!

Expected behavior
ROS2 should has the same frequency as which in ROS1 bag.

Actual behavior
ROS2.0 has lower frequency than ROS1.0 by large data

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Closed for the following reason duplicate question by tfoote
close date 2019-09-29 23:27:56.558215

Comments

If this is already a known issue, with an open issue on the tracker, what made you cross-post to ROS Answers? It's been only 8 hours since you commented on the tracker.

gvdhoorn gravatar imagegvdhoorn ( 2019-09-29 06:06:13 -0500 )edit

Sorry, I did not know that ROS on github and ROS Answers work as one Platform. That's the reason, nothing else. : )

EgalYue gravatar imageEgalYue ( 2019-09-29 21:15:35 -0500 )edit