eros: code_sourcery_arm_gnueabi | eros_apr | eros_apr_util | eros_boost | eros_build | eros_bzip2 | eros_cpp_tutorials | eros_gdbserver | eros_license | eros_log4cxx | eros_msg_latency | eros_nodelet_latency | eros_opencv | eros_platforms | eros_python_tools | eros_qt_tutorials | eros_rpc_latency | eros_toolchains | eros_zlib | roscpplight
Package Summary
Generates statistical data providing a benchmark for nodelet latencies, both internally (via the boost shared pointer mechanism) and externally (via copies).
- Author: Daniel Stonier
- License: BSD
- Repository: yujin-ros-pkg
- Source: svn https://code.ros.org/svn/eros/trunk/tests/eros_nodelet_latency
Overview
This package has code for two nodelets, Publisher and Subscriber which communicate on a common topic "/big_object" to which a very large timestamped array is published (BigObject).
The nodelets are packaged in a library, and two launch configurations are setup for testing latencies across the big_object communication channel.
Usage
Internal
The launcher internal.launch loads both publisher and subscriber nodelets on the same manager (i.e. they coexist in the same process). In this situation, the transport communication medium passes the BigObject via pointers, so we can expect to see very low latencies being generated by this.
roslaunch eros_nodelet_latency internal.launch
Upon execution, you should see the average latency continually being communicated to standard output. Ctrl-c to terminate the application.
External
The launcher external.launch launches both publisher and subscriber as standalone processes. In this situation, the BigObject is copied across TCP/IP (some 4MB!), so expect very high latencies here.
roslaunch eros_nodelet_latency external.launch