Publishing, multiple small topics vs one large topic, at the same rate

asked 2021-05-08 05:19:29 -0600

praskot gravatar image

I'm trying to understand if there is any computational difference that comes into play if I publish on a large rostopic (custom and combines all the small topics) vs. publishing multiple smaller topics.

For instance, I want to publish Battery State, Sensor Readings, Odometry, etc. (all at the same rate). Will there be a difference in the computation if I publish them individually vs. one single custom message that combines them all?

Or since the topic is that not large like an image/point cloud, it doesn't really matter?

System config: Raspberry pi 3, with kinetic, publishing topics at 1000Hz.

Thank you

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Could you please update your post with references to earlier discussions about this topic here on ROS Answers which you've found? Just so potential answers could avoid suggesting things you've already read and tried / dismissed?

Google is a good way to find Q&As: append to your query.

gvdhoorn gravatar image gvdhoorn  ( 2021-05-08 06:14:54 -0600 )edit