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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?
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.
Asked: 2020-02-12 18:02:45 -0500
Seen: 562 times
Last updated: Oct 28 '20
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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.
I've had good success with cyclone in the past. I must be configuring something wrong
hence my surprised comment.