Charlie Thomson wrote:
> We're experimenting with ROS, and before diving too deeply into it I 
> was wondering if anyone had some performance metrics on the messaging. 
> How many messages per second can one reasonably expect on modern 
> hardware, how many bytes per second, when would it be a good idea to 
> switch over to nodelets and bypass lo entirely, that sort of thing.
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Hi,

A couple of week ago, I've posted a pdf with performance evaluation for 
inter-node only using local TCP or Sharedmemory. I measured message 
delivery time, and message frequency, as a function of message size. 
Search for the "Shared memory image plugin" thread.

Obviously, these transports cannot compete with the nodelet architecture...

HTH

-- 
Dr. Cedric Pradalier
http://www.asl.ethz.ch/people/cedricp