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What does ROS 2 support for high bandwidth topics?

asked 2020-10-13 17:06:39 -0500

calvertdw gravatar image

Does ROS 2 support (or plan to) any quality metrics for high bandwidth data topics like video and large point cloud streams?

Specifically, are there any guarantees of jitter, latency, and max throughput? I am worried about the theoretical implications of the switch from TCP to DDS for these types of topics.

I have experienced smooth steaming of video and point clouds in ROS 1 but have never seen it in ROS 2. Are there any examples, benchmarks, or videos of smooth streaming of high bandwidth data over ROS 2? Does Open Robotics maintain testbeds of such setups?

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Related discussion: ROS2 Default Behavior (Wifi) on ROS Discourse (yes, it seems to focus on wireless networks, but the topic is broader).

gvdhoorn gravatar image gvdhoorn  ( 2020-10-14 02:44:44 -0500 )edit

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answered 2020-10-14 02:32:21 -0500

DDS and ROS2 support both TCP and UDP transports. ROS2 also provides a more customizable quality of service. There is not any clear reason why ROS1 should perform better than ROS2 in video and point cloud streaming.

ROS2 is also well suited to work in real time using the RT_PREEMPT kernel (that may be useful to increase the determinism and reduce jitter in many situations). With ROS2 you also can switch between different DDS implementations that may show a better performance in some specific situations.

Some research studies show that you can achieve communications between two hardware components in a quite deterministic way with maximum latencies of 1-3 milliseconds (mostly under 2 milliseconds). https://arxiv.org/pdf/1809.07295.pdf

If you still want to check the network performance you can always use linux network standard tools for a rough analysis such as: iperf or bwm-ng

If you can go deeper you can be also interested in apex guys framework to analyze all these issues in a deeper detail: https://github.com/Irobot-ros/ros2-pe...

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I'm worried about the unclear reasons :-) I do not see any examples or bemchmarks of video or point cloud streaming in the examples you linked to. Am I missing it?

calvertdw gravatar image calvertdw  ( 2020-10-14 19:18:47 -0500 )edit

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Asked: 2020-10-13 17:06:39 -0500

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Last updated: Oct 14 '20