Remote PC subscribers causing significant frame drop #3
Description
- Steps to reproduce
- Connect a second PC to the onboard NUC
- Subscribe to a sensor topic, e.g.
ros2 topic echo /velodyne_points
- Issue:
The topic that gets subscribed on the secondary PC stutters.
- Early thoughts:
This is almost certain due to QoS settings.
All sensor topics are published as reliable and subscribers by defaults are set to reliable too. If the secondary PC is connected over WiFi, network delay will cause such problems.