Reduce Network Consumption (ROS2)

hsp-iit / project-ergocub

A demonstration of human-robot interaction on the ergoCub through vision.

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Reduce Network Consumption (ROS2) #100

Closed SimoneMic closed 1 year ago

SimoneMic commented 1 year ago

The Issue #99 fixed the network problem with ROS2. However, to improve the wifi bandwith occupation, the ros2 topic from the sensors will be published from the laptop after being compressed via yarp.

SimoneMic commented 1 year ago

Configuration files present on the egoCub laptop in $ROBOT_CODE/robotology-superbuild/src/robots-configurations/ergoCubSN000

Config file for the compression of the depth pointcloud (only)
Config file for the compression of the lidar readings

This configuration saved around 30 MB/s of network consumption, with space of improvement changing the compression algorythm