[ros-users] image transport saturating network

[Brian Gerkey]

On Fri, Apr 9, 2010 at 12:34 PM, Dan Lazewatsky
<lazewatskyd at cse.wustl.edu> wrote:
> This isn't strictly a ROS question, but I was hoping people here would
> have some thoughts. I'm grabbing video off a webcam on my robot and
> using image transport to stream it to another computer on the same
> wireless network. I'm having a problem where shortly after I start
> subscribing to messages, my network latency skyrockets (like 1000ms+
> ping times for computers on the same network, and bit rate on the
> robot's wifi connection goes down to 1Mb/s from 54Mb/s).

If your primary goal is to stop saturating the network (as opposed to
finding a way to receive every image), you could throttle the
appropriate camera topic(s) on the publishing side.
topic_tools/throttle works with any message type and can limit either
messages / second or bytes / sec:
  http://www.ros.org/wiki/topic_tools/throttle

	brian.