In ARM, publish message which is 200KB per 100ms,ros2(Galactic) topic hz /topicName can not get 10Hz,why is that?

asked 2022-05-06 00:55:01 -0500

cfzhous gravatar image

updated 2022-05-06 15:04:56 -0500

Mike Scheutzow gravatar image

Trying to publish at 10Hz:

ros2 topic hz /topic
            average rate: 5.763
                    min: 0.106s max: 0.214s std dev: 0.03865s window: 7
            average rate: 5.675
                    min: 0.106s max: 0.217s std dev: 0.03624s window: 13
            average rate: 5.032
                    min: 0.106s max: 0.351s std dev: 0.06440s window: 18
            average rate: 4.944
                    min: 0.106s max: 0.449s std dev: 0.08084s window: 23
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You have not given us nearly enough information to help you. How fast is the CPU at each end? How many cores? What kind of network? What is the capacity of the network connection?

Mike Scheutzow gravatar image Mike Scheutzow  ( 2022-05-06 15:09:38 -0500 )edit

Jetson AGX Xavier ,I'm testing with this platform (ROS2-Galactic, RMW_IMPLEMENTATION=rmw_cyclonedds_cpp)

cfzhous gravatar image cfzhous  ( 2022-05-11 04:49:05 -0500 )edit

You did not provide an answer to any of my questions.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2022-05-12 06:45:36 -0500 )edit