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Network unstable between Turtlebot and workstation

asked 2012-09-25 06:02:50 -0500

Yuri gravatar image

Hello, i have a problem with the wireless connection between Turtlebot and my workstation (Dell XPS with Intel Centrino Wireless 6230, ROS-electric). If i launch the turtlebot_teleop on my workstation the network is stable but if i try to launch something like rviz or image_view the network falls. Initially the bit-rate was 2 Mbit/s while now is about 40 kbit/s without modify nothing. However, the network is always falling. I have tried to change workstation with a old acer and the network was slowly but stable! How can i solve this problem?

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answered 2012-09-25 06:21:50 -0500

It's not hard to saturate your network connection when streaming things like raw images and point clouds (which you may be visualizing with image_view or rviz). There are a few things you could try:

  • When subscribing to images, use one of the compressed transports (compressed or theora)
  • Try throttling point clouds on the machine that publishes them. According to my back of the envelope calculation, the point cloud from a kinect creates about 140MB/s of data, which on its own could saturate a 802.11n link. You can throttle topics with topic_tools/throttle.
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Asked: 2012-09-25 06:02:50 -0500

Seen: 186 times

Last updated: Sep 25 '12