Topic monitor

[audrow]

Setup

• DDS vendor: Cyclone
• BuildType: Debian
• Os: Ubuntu Jammy
• Chip: Amd64

Links

• Reference URL

Checks

• Comparing reliability QoS settings

  details

  Try

  1. You will need two machines with ROS 2: one mobile and one stationary.

  2. # User input in terminal 1
     ros2 run topic_monitor topic_monitor --display

  3. Run the ros2 launch topic_monitor reliability_demo.launch.py executable on the stationary machine. This will start two nodes: one publishing in “reliable” mode, and one in “best effort”.

     # User input in terminal 1
     ros2 launch topic_monitor reliability_demo.launch.py

  4. Start the monitor on a mobile machine such as a laptop. Use ros2 run topic_monitor topic_monitor --display --allowed-latency 5 to account for any latency that may occur re-sending the reliable messages.

     # User input in terminal 1
     ros2 run topic_monitor topic_monitor --display --allowed-latency 5

  5. Take the mobile machine out of range of the monitor, and observe how the reception rates differ for the different topics.

  Expect

  1. 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.

     

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You can find the code used to generate this test case here