Closed marcoag closed 5 months ago
fujitatomoya
commented
6 months ago @marcoag since i do not have 2 machines, i tried to test this with 2 containers.
it seems that works without any problems, but plotting is different from expected result. i think we need a wifi network which is kinda unstable connectivity? this is as much as i can test, hope this helps if nobody else takes this with 2 physical machines.
marcoag
commented
6 months ago @fujitatomoya thanks for testing! as you mentioned, your output makes sense, will leave this open though in case anyone else can test with two machines.
samuel-ongzx
commented
5 months ago Just tested this with 2 machines!
Setup:
ghcr.io/sloretz/ros-testing:jazzy-desktopHad to walk out of my house + 50m to get the drop in signal with some stops to try and get the best effort 😮💨 .
ahcorde
commented
5 months ago Thank you for testing and for moving around
Configuration
Links
Process
Comparing reliability QoS settings
Actions
You will need two machines with ROS 2: one mobile and one stationary.
Run the
ros2 launch topic_monitor reliability_demo_launch.pyexecutable on the stationary machine. This will start two nodes: one publishing in “reliable” mode, and one in “best effort”.Start the monitor on a mobile machine such as a laptop. Use
ros2 run topic_monitor topic_monitor --display --allowed-latency 5to account for any latency that may occur re-sending the reliable messages.Take the mobile machine out of range of the monitor, and observe how the reception rates differ for the different topics.
Expected Results
You should see that the "reliable" topic has a reception rate that is almost always either 0 or 100%, while the "best effort" topic has a reception rate that fluctuates based on the strength of the connection.