rocon_unreliable_experiments Documentation

rocon_unreliable_experiments

Some experiments testing roscpp unreliable transports.

• Homepage: http://wiki.ros.org/rocon_unreliable_experiments

Key Points

When creating a subscriber you can specify hints to make it unreliable (udp) You cannot do anything on the publisher end If the publisher (not roscpp publishers) does not support udp, then tcp connections are made.

Experimenting

One publisher, one unreliable subscriber - udp connection One publisher, one subscriber, one unreliable subscriber - the latter is still udp connection You can observe the unreliable connections being made with:

> watch -n1 ss -u

Conclusions

• It’s only really important to make sure subscribers are unreliable.
• The publishers can be exposed without any relaying or configuration.