[ros-users] Messaging Performance

[Josh Faust]

When you discount the cost of creating the messages (which has nothing to do
with the transport), I have results with nodelets of over 100k
messages/second, of any size.  Given some optimization I think this can be
increased significantly.  For small messages you're likely to see similar
performance over TCP loopback, but we don't have any inter-node metrics at
this point.

Josh

On Tue, May 18, 2010 at 9:49 AM, Radu Bogdan Rusu <rusu at willowgarage.com>wrote:

> Charlie,
>
> The nodelets are always going to be faster if you can work in a single
> process, because you never copy data, you just
> pass pointers to it. I did some tests with PointCloud2 and PCL, and I
> successfully managed to pass over 1000 PointCloud2
> messages (300k points, xyzw) per second, versus ~20 over loopback. The
> tests are somewhere embedded in PCL, under tests,
> but they are not refined. I'll see whether I have time to clean them up and
> put the results on a web page.
>
> Josh also did more tests with TCP, and I believe the results are somewhere
> on the wiki, but I couldn't find them right now.
>
> Cheers,
> Radu.
>
> On 05/18/2010 08:28 AM, 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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>
> --
> | Radu Bogdan Rusu | http://rbrusu.com/
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