[ros-users] [Discourse.ros.org] Rosserial_arduino performance question

Martin Günther ros.discourse at gmail.com
Mon Apr 10 10:04:58 UTC 2017

You're right about the initialization time. On startup, `rostopic` registers a new publisher with the ROS master. Then, `rosserial_arduino` is notified of this and negotiates a direct communication channel with `rostopic`. All of this takes some time. So what you should do is create a publisher once and keep it open. This should greatly reduce your latency on all following `publish()` calls.

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