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ros-perception / graft

UKF replacement for robot_pose_efk (still in development)
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add no_delay parameter #24

Closed mikeferguson closed 9 years ago

mikeferguson commented 9 years ago

Recently, when trying to run the filter at higher rates, we've noticed that Odom/Imu timeouts are very frequent. When tracking this down I found that our IMU/odom data were being buffered such that the 100hz data arrived in blocks of 4 packets every 25hz. This PR adds support for selecting tcp_nodelay which disables Nagle algorithm buffering.

In the future we might want to make this the default, for now, I've made it optional

chadrockey commented 9 years ago

Yes, Nagle's algorithm does bad things to time based receivers at high data frequencies.

This looks good though.

@mikeferguson can you go ahead and do the release after before or after Tully syncs (I'm not sure where their status is with that).