[ros-users] ROS communication performance .
Konrad Banachowicz
konradb3 at gmail.com
Thu Sep 9 18:48:39 UTC 2010
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
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