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Is there a way to prioritize traffic in ROS?

asked 2012-08-16 02:52:23 -0500

updated 2012-08-16 02:53:26 -0500

There are two types of messages in our teleoperation system, i.e. video stream and haptic feedback. So it is important that data rate for haptic feedback should be not less than certain value. For video stream it is much less critical.

Probably, I can experimentally find certain frame rate for video such that haptic feedback is not deteriorated, but it is not very convenient.

Is there a way to do that automatically?

Thanks, Boris

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answered 2012-08-16 04:29:08 -0500

joq gravatar image

I doubt it.

You can use some kind of relay node that manages the bandwidth explicitly.

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topic_tools throttle can throttle bandwidth.

dornhege gravatar image dornhege  ( 2012-08-16 07:09:15 -0500 )edit

@dornhege: Thanks, looks like it should solve the problem. Will report back once I try it.

Boris gravatar image Boris  ( 2012-08-17 02:37:31 -0500 )edit

answered 2012-08-20 16:29:20 -0500

Adolfo Rodriguez T gravatar image

You might be interested in supporting the recent efforts to enable IPv6 support in ROS. IPv4 gives all packets the same best-effort service, but IPv6 allows to explicitely specify priorities, namely through the 8-bit Traffic class field of the IPv6 header.

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answered 2012-08-16 06:17:17 -0500

PerkinsJames gravatar image

I have never seen any way to do this in ROS. This type of "Quality of Service" would be useful, but is difficult to implement. It is also notoriously difficult to configure for developers. Data Distribution Service's (DDS) implement many QoS parameters but you wont get all the other benefits of ROS.

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As I understood I have to "shape traffic" with something like iptables? But indeed this will be non-trivial task for ROS (at least for me). So will try topic_tools first.

Boris gravatar image Boris  ( 2012-08-17 02:46:50 -0500 )edit

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Asked: 2012-08-16 02:52:23 -0500

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Last updated: Aug 20 '12