[ros-users] [Discourse.ros.org] [Next Generation ROS] Latency and throughput in ROS2

[Loïc Dauphin]

Hello !

Nice tool @Dejan_Pangercic !

What are the requirements on the RMW layer to be tested ?
I have a [non-DDS-based RMW](https://github.com/astralien3000/rmw_ndn), but it currently only support simple pub/sub.
It would be interesting to measure performance with your tool and compare it to DDS implementations.

Also (for latency), is it only measuring the end-to-end latency, or can it be more comprehensive ? For example measuring the time spent in each layer (RCL/RMW/DDS/Network).





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