[ros-users] [Discourse.ros.org] Questions about improving the ROS real-time method

[Ingo Lütkebohle]

As Geoff already mentioned, I will be talking about such things at ROSCon in more detail.

Some of the things you could check in your system:
 - What's your CPU load? If it's high -> What else is running on the machine?
 - What's your sensor data-rate?
 - What's your sensor delay (the time between the physical measurement and when the sensor sends it out)?
 - Are your components time-triggered (ros::Rate or ros:Timer) or data-triggered (subscriber callback)? For minimal latency, data-triggering is preferable
 - Is NO_DELAY enabled on your subscribers?
 - What's the computational complexity of your obstacle avoidance algorithm?





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