Dear all,
I recently done some testing on ROS communication performence.
There are the reesults :
throughput [MB/s] time [s] data [MB]
ROS 7.25906 4.827058 35.0399
raw TCP 56.8430 8.387205 476.75466
POSIX MQ 124.36626 3.834136 476.837158
That shows grate overhead of ROS communication.
I looked on code, I found that the communication code is very complicated and contains many locks and queues. It's also integrate interprocess and intraprocess communication. This with all callback stuff make whole communication overcomplicated.
I think this show serious problem with design of whole network stack in ROS.
I will do some more testing.
Pozdrawiam
Konrad Banachowicz