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eclipse-zenoh / zenoh-pico

Eclipse zenoh for pico devices
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To high latency #603

Open alexzeit opened 3 weeks ago

alexzeit commented 3 weeks ago

Describe the release item

We have measured the roundtrip latency and compared Zenoh versus udp. In our opinion the latency is to big for our realtime requirements. Here the mean latency measurement results: Udp socket: 0.42ms Zenoh-pico Peer Zenoh-cpp: 0.98ms Zenoh -pico zenohd zenoh-cpp 1.75ms Zenoh-pico zenoh-bridge-ros2dds ros2 node : 2.05ms

Tested with zenoh 1.0.0 alpha6

our setup Nuclei h753zi M7 480MHz with zephyr 3.7 rtos, 100 Mbit Ethernet

1Gb Ethernet switch Nxp rdb3 board with Ubuntu 22.04 preempt rt 1Gbit GMAC The application , zenoh router and eth interrupt running on shielded cores with high rt prio Could you look into it to see any improvement is possible for next release?

Mallets commented 3 weeks ago

Do you mind sharing your benchmarking code? Additionally, can you elaborate more on your real-time use case/requirements?