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tips for debugging slow dds

asked 2020-02-12 18:02:45 -0500

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?

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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 image gvdhoorn  ( 2020-02-13 02:36:42 -0500 )edit

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

johnconn gravatar image johnconn  ( 2020-02-13 07:11:46 -0500 )edit

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

hence my surprised comment.

gvdhoorn gravatar image gvdhoorn  ( 2020-02-13 07:37:23 -0500 )edit

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answered 2020-10-28 01:18:32 -0500

johnconn gravatar image

updated 2020-10-28 01:19:37 -0500

I kind of cross-posted this here: https://github.com/ros2/rmw_cyclonedd...

There is a lot of good cyclone specific info and more general info on that

The ros2 tuning guide was also a great help to me.

It turned out that the default buffers on ubuntu 18 are too small to achieve good performance on larger images. Once I increased buffer sizes and turned off multicasting after discovery, my performance was much improved.

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Asked: 2020-02-12 18:02:45 -0500

Seen: 112 times

Last updated: Oct 28 '20