Excellent! This is good data to have -- I'll take a look at running those tests when I get back to work on Monday.
Josh
Cedric Pradalier wrote:I also add the variation of the reception interframe time in the plot, as delivery delay is not the only parameter affected by the type of transport.
Hi,
this discussion raised my curiosity, so I created a small test program to evaluate the advantage of using shared memory. The program is quite simple: on one end a publisher is creating an image of some size, and publishing it with a timestamp given by ros::Time::now(), on the other end, a receiver is receiving the image, and recording the difference between ros::Time::now() and the image timestamp.
I made this test for 1000 images, from 640x480x1, 640x480x3, 1500x1000x3, 3000x2000x3. The results are summarised in the attached pdf.
I also attach the test file so that someone can point out if something is wrong in my test.
The bottom line is: for big object, shared memory transfer reduces significantly the delivery delay.
I hope that helps.
Best
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