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michaeljenkin / unityros

a unity ros tool
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Can't read sensor_msgs/PointCloud #2

Closed kshitijgoel007 closed 8 years ago

kshitijgoel007 commented 8 years ago

Is there an upper bound to the data that can be transmitted through rosbridge? I am not able to transfer my point cloud message in time and there's too much lag in transferring.

I saw this paper and I'm curious as to how it is achieved in real-time using this repository.

michaeljenkin commented 8 years ago

ROSBridge passes the data as 7 bit clean data (aka ascii) by default. So if you large amounts of sensor data through a small pipe its going to be unpleasant.

We normally throttle high bandwidth messages prior to pumping them out through ROSBridge.

For static maps (like the one in the paper), you can pre-position the full map and only the robot pose and the laser scans need to be updated live.

Michael

On Jun 27, 2016, at 1:06 PM, Kshitij Goel notifications@github.com wrote:

Is there an upper bound to the data that can be transmitted through rosbridge? I am not able to transfer my point cloud message in time and there's too much lag in transferring.

I saw this paper http://vgrserver.cs.yorku.ca/%7Ejenkin/papers/2014/ros2unity.pdf and I'm curious as to how it is achieved in real-time using this repository.

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