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2023-07-05 16:21:41 -0500 asked a question How to simulate a LOST action goal?

How to simulate a LOST action goal? I want to create a ros test and would like to emulate an action goal being lost. I'v

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2022-11-01 10:22:37 -0500 asked a question Is there a way to ensure all messages are published before shutting down a node?

Is there a way to ensure all messages are published before shutting down a node? I want to make sure all pending message

2022-10-26 18:24:55 -0500 asked a question Is this SimpleActionClient instantiation thread-safe for the callbacks?

Is this SimpleActionClient instantiation thread-safe for the callbacks? First, I am constructing an instance of the temp

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2021-11-04 14:49:32 -0500 commented question How to use modern CMake best practices in ROS 1?

I think what I would gain is to be able to reduce the scope of what is included per target instead of everything inside

2021-11-04 14:45:48 -0500 commented question How to use modern CMake best practices in ROS 1?

I guess that's what I thought, but I still wondered if there was a better way of packaging ROS 1 packages than using old

2021-11-04 14:41:52 -0500 commented question How to use modern CMake best practices in ROS 1?

I guess that's what I thought, but I still wondered if there was a better of packaging ROS 1 packages than using old CMa

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2021-11-03 17:04:55 -0500 asked a question How to use modern CMake best practices in ROS 1?

How to use modern CMake best practices in ROS 1? Hi, I am trying to improve my CMakeLists.txt by using modern CMake bes

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2020-11-03 10:39:31 -0500 edited question Intermittent segfault when running gtests

Intermittent segfault when running gtests Hi all, I am trying to debug a strange intermittent issue, but I can't find t

2020-11-03 10:39:06 -0500 edited question Intermittent segfault when running gtests

Intermittent segfault when running gtests Hi all, I am trying to debug a strange intermittent issue, but I can't find t

2020-10-30 11:43:29 -0500 edited question Intermittent segfault when running gtests

Intermittent segfault when running gtests Hi all, I am trying to debug a strange intermittent issue, but I can't find t

2020-10-30 11:40:41 -0500 asked a question Intermittent segfault when running gtests

Intermittent segfault when running gtests Hi all, I am trying to debug a strange intermittent issue, but I can't find t

2020-10-17 22:04:03 -0500 answered a question No rule to make target '/home/praveen/scoutrobot_ws/src/scoutrobot/octomap_mapping/octomap_server/cfg/OctomapServer.cfg', needed by '/home/praveen/scoutrobot_ws/devel/include/octomap_server/OctomapServerConfig.h'. Stop.

Can you please provide more information ? Your full package would be helpful.

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2020-10-02 11:32:55 -0500 edited question How to migrate a bag file after these two types of changes?

How to migrate bag file after these two types of changes? Hi everybody, I've been working with bag migration for a whil

2020-10-02 11:31:41 -0500 edited question How to migrate a bag file after these two types of changes?

How to migrate bag file after these two types of changes? Hi everybody, I've been working with bag migration for a whil

2020-10-02 11:30:10 -0500 edited question How to migrate a bag file after these two types of changes?

How to migrate bag file after these two types of changes? Hi everybody, I've been working with bag migration for a whil

2020-10-02 11:29:37 -0500 asked a question How to migrate a bag file after these two types of changes?

How to migrate bag file after these two types of changes? Hi everybody, I've been working with bag migration for a whil

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2020-08-24 16:38:56 -0500 marked best answer What are the differences between the different TransportHints?

Hi all,

Context: This week, I've experimented with publishing/subscribing and measured communication times with different TransportHints. More precisely, I've tried sending a fairly large custom message with the following transport hints:

  • TransportHints().reliable()
  • TransportHints().unreliable()
  • TransportHints().udp()
  • TransportHints().tcpNoDelay()
  • TransportHints().tcp()

Then, I've measured the average communication times for that custom message (i.e. from being published to being processed by a subscriber callback function). The node processing the callbacks was set on spin().

Here are the measurements I've gathered:

Subscriber queue size: 1, Publisher queue size: 1
TransportHint --- Average communication time (ms)
reliable -----------------7.5
unreliable --------------0.4
udp ----------------------0.4
tcpNoDelay ------------0.4
tcp -----------------------7.7

Beside the reduced communication times, what are the differences between:

  • reliable, tcp and tcpNoDelay?
  • udp and unreliable?

Also, if tcpNoDelay() is much better in terms of performance, why wouldn't you always want tcpNoDelay() then? If there are some downsides, could you explain what they are?

Thanks!

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