rviz increase network traffic on lo interface
Hi, there,
I have a robot with Velodyn 32E installed. This laser outputs data at around 18Mbps. In my configuration, the robot is configured as ROS master, a base station computer is configured as a client. When I start the launch file to launch the velodyne laser driver node at the robot side, I also run the rviz at my base station side. Now, I have an interesting observation, once I start rviz, even without subscribe to anything, the loopback (lo) network interface at my base station computer shoots up to 18Mbps. What happened here? Thanks a lot.
UPDATE:
<launch>
<arg name="pcap" default=""/>
<arg name="calibration" default="$(find velodyne_pointcloud)/params/32db.yaml"/>
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="model" value="32E"/>
<arg name="pcap" value="$(arg pcap)"/>
</include>
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
<arg name="calibration" value="$(arg calibration)"/>
</include>
</launch>
Are you running the node or nodelet versions of the driver and pointcloud conversion packages?
I am running the nodelet from the velodyne driver package.
Please update your question to add the launch script you use.
I simply run the sample launch file, <launch> <arg name="pcap" default=""/> <arg name="calibration" default="$(find velodyne_pointcloud)/params/32db.yaml"/> <include file="$(find velodyne_driver)/launch/nodelet_manager.launch"> <arg name="model" value="32E"/> <arg name="pcap" value="$(arg pcap)"/> </include> <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch"> <arg name="calibration" value="$(arg calibration)"/> </include> </launch>
What version of the driver are you running? What ROS distro?
ROS is fuerte, Ubuntu12.04. I installed the stack by running sudo apt-get install ros-fuerte-velodyne
Since you are running velodyne_driver and velodyne_pointcloud on the same nodelet manager process, I would not expect that to generate loopback traffic by itself. Once rviz subscribes, the extra traffic makes sense. Is rviz already subscribed due to an earlier invocation?
I deleted all the rviz subscriptions and use bmon to check the lo traffic. It is still around 18 Mbps. and this slows down a lot of other coms