Dear all,<br>I recently done some testing on ROS communication performence.<br>There are the reesults :<br>                          throughput [MB/s]     time [s]           data [MB]<br>ROS                 7.25906                      4.827058      35.0399<br>

raw TCP          56.8430                      8.387205      476.75466<br>POSIX MQ      124.36626                  3.834136      476.837158<br><br>That shows grate overhead of ROS communication.<br>I looked on code, I found that the communication code is very complicated and contains many locks and queues. It&#39;s also integrate interprocess and intraprocess communication. This with all callback stuff make whole communication overcomplicated. <br>

<br>I think this show serious problem with design of whole network stack in ROS.<br><br>I will do some more testing.<br><br clear="all">Pozdrawiam<br>Konrad Banachowicz<br>