/websocket_latency

Primary LanguagePython

Rosbridge communication latency

Package to measure the communication latency over rosbridge.

  • Launch ros bridge using the provided launch file launch/rosbridge.launch. This instance of rosbridge watches the port 49152.
  • Run the two nodes, publisher and subscriber.
  • Publisher node sends a message to the subscriber using websocket. You can run the subscriber on a different machine to measure the time it takes to deliver a message.
  • Publisher has a dynamic reconfigure endpoint to change its frequency of sending data.

Tested with ROS Noetic and Python 3.8.10 on Ubuntu 20.04 Focal.