[ros-users] Latency of subscriber callback for large amount of data

Kim, Yoonsoo yesarang.kim at gmail.com
Thu Oct 13 02:46:57 UTC 2011

Thanks a lot!
It works!

- Yoonsoo

2011/10/13 Troy Straszheim <straszheim at willowgarage.com>

> Thanks for the reproducable bug report... I get the same behavior, so
> long as the packets are small enough.. above 10k or so I don't see
> this behavior.  This looks like like Nagel's algorithm at work, try
> setting TCP_NODELAY on the subscriber, like this:
> #include <ros/transport_hints.h>
> ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback,
> ros::TransportHints().tcpNoDelay());
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