tf2 network bandwidth & QoS options with ROS2

asked 2022-05-31 08:00:57 -0600

WesT gravatar image


This is a two part question:

  1. Is there a comprehensive documentation for the way /tf works with various networking DDS? I am trying to get a grasp on the way bandwidth and latency will scale given multiple publishers sending various tf frames at different rates. Am I correct in assuming that ros2 topic bw will report stats only for this temp subscriber, and won't capture _all_ traffic on tf?

  2. Does tf2 have similar/corresponding QoS settings that can be specified? Or am I completely incorrect in my understanding of the way the tf library works with ROS?

Thanks in advance.

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Further to (2), it seems that the default settings are transient_local (as opposed to volatile), and reliable (as opposed to best effort), from here. Can these be configured? Does it make sense to change these?

WesT gravatar image WesT  ( 2022-08-18 05:04:33 -0600 )edit