[ros-users] [Discourse.ros.org] [Next Generation ROS] Image and PointCloud2 performance on ROS2

Dejan Pangercic ros.discourse at gmail.com
Wed Jul 25 00:30:56 UTC 2018

@yechun We performance_tested all sort of small and large data here and got latencies ~20ms for 2MB PointCloud2 messages: https://github.com/ros2/rmw_fastrtps/pull/203#issuecomment-399778193.  

What I think is happening is that you are trying to publish  PointCloud2 data with the default QoS settings (https://github.com/ros2/rmw/blob/master/rmw/include/rmw/qos_profiles.h#L43-L50) which are set to reliable and volatile. 

`ros2 topic echo` command is using sensor QoS (https://github.com/ros2/ros2cli/blob/master/ros2topic/ros2topic/verb/echo.py#L134) which are best effort.

I would suggest to use sensor QoS in your publisher (see example https://github.com/ros2/ros2/wiki/About-Quality-of-Service-Settings).

Otherwise it does not make much sense to print PointCloud2 messages to a console. 

For performance testing I would otherwise suggest you to use this tool: https://github.com/ApexAI/performance_test.


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