tips for debugging slow dds

asked 2020-02-12 18:02:45 -0600

johnconn gravatar image

I have a lot of nodes and a lot of topics running, some of these topics publish heavy pointclouds and images

My system runs maybe 10x faster on fastRTPS when compared to cyclonedds.

Are there any tools I could use to figure out why?

I once had a slowdown like this when one of my publishers was configured for reliable QoS and my subscriber was sensor QoS, are there any tools for detecting that kind of mismatch?

edit retag flag offensive close merge delete

Comments

My system runs maybe 10x faster on fastRTPS when compared to cyclonedds.

Wow. That would be the first time I hear this claimed by anyone.

Afaik tools go: I'm not aware of any tools for ROS 2 specifically. Many DDS vendors have tools available though. They should at least let you inspect the QoS side of things.

There is the ros2doctor. It's a work-in-progress, and I'm not sure how deep the analysis goes, but it may be worth a try.

gvdhoorn gravatar imagegvdhoorn ( 2020-02-13 02:36:42 -0600 )edit

I've had good success with cyclone in the past. I must be configuring something wrong

johnconn gravatar imagejohnconn ( 2020-02-13 07:11:46 -0600 )edit

I've had good success with cyclone in the past.

hence my surprised comment.

gvdhoorn gravatar imagegvdhoorn ( 2020-02-13 07:37:23 -0600 )edit