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ROS1 - ROS2 High latency for large message #169
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Hi, I was experimenting with SOSS/integration service with the Websocket Handle, for this case the default behavior is to publish the data from the published and subcsribed topics. It produces a lot of data printing, specially I was testing on Compressed Images image reception from image_transport ROS2 package. From the code I saw the existence of a kind of template that is in charge of generate the messages conversion for all used messages in is-workspace/src/ROS2-SH/utils/ros2-mix-generator/resources/convert__msg.cpp.em There you can change the default behavior but I'm not sure if is there a better alternative? on convert__msg.cpp.em you can change the publisher and subscriber parts on code //On Subscriber From
To
//On Publisher From logger << utils::Logger::Level::INFO
To logger << utils::Logger::Level::INFO
You need to rebuild the is-workspace packages with colcon. |
Another issue that I'm experimenting is a websocket Handle bottleneck due to the json message conversion to eprosima xtypes by the integration service. This is happening with Compressed images. This seems to happen only when you are using the websocket handle, at least what i have been tested
and added the next variable to the class
For example the integration service is able to connect to the ROS2 topics with almost good processing time through a WIFI connection, But when I get connected from a webpage using roslibjs through a WIFI connection, an increase of 10X processing time is introduced, I perform some profiling and the issue seems to be related with the message conversion on convert_to_xtype(msg, data); From profiling also we have, The following functions spent a lot of time!!
So, I'm not sure if somebody from eProsima can check this behavior when using Websocket-SH handler? |
Hello,
I have set up the Integration Service to bridge ROS1 and ROS2 on my local machine.
Here is my configuration file :
And I run the integration service like so :
It works well for small messages in both ways, but the latency gets very high for larger messages. (More than 2s for images)
I noticed that the
integration-service
executable always outputs the content of the forwarded messages. For example :I believe that this output could pose problem for larger messages. Do you know how to disable it or am I missing something ?
Thanks for the help !
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