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We are currently migrating ROS Noetic code to ROS2 Humble and we are facing some weird behavior with rosbridge server. The testing case is the following: we have a simple service server node returning a boolean status called from rosbridge server. The response time is considerably increased in ROS2 comparing to ROS.
If we are missing something, do not hesitate to correct us please.
ROS
Average response time by calling the service directly (without rosbridge): 0.01s (quite stable)
Average response time by calling the service via rosbridge (using the attached web socket script): 0.04s (quite stable)
Library Version: 0.11.16
ROS Version: 1 Neotic
Python version: 3.6
Platform / OS: linux based
ROS2
Average response time by calling the service directly in a client node (without rosbridge): 0.01s (quite stable)
Average response time by calling the service via rosbridge (using the attached web socket script):0.02s to 0.7s (increasing)
Library Version: 1.3.1
ROS Version: 2 Humble
Python version: 3.10
Platform / OS: linux based
Steps To Reproduce
We are calling the rosbridge server with "--call_services_in_new_thread" and "true" arguments but it does not make a great difference. The nodes are launched with ros2 run command (one in its own terminal).
Description
We are currently migrating ROS Noetic code to ROS2 Humble and we are facing some weird behavior with rosbridge server. The testing case is the following: we have a simple service server node returning a boolean status called from rosbridge server. The response time is considerably increased in ROS2 comparing to ROS.
If we are missing something, do not hesitate to correct us please.
ROS
Average response time by calling the service directly (without rosbridge): 0.01s (quite stable)
Average response time by calling the service via rosbridge (using the attached web socket script): 0.04s (quite stable)
ROS2
Average response time by calling the service directly in a client node (without rosbridge): 0.01s (quite stable)
Average response time by calling the service via rosbridge (using the attached web socket script):0.02s to 0.7s (increasing)
Steps To Reproduce
We are calling the rosbridge server with "--call_services_in_new_thread" and "true" arguments but it does not make a great difference. The nodes are launched with ros2 run command (one in its own terminal).
Expected Behavior
Similar and stable response time in ROS2 using rosbridge
Actual Behavior
Increasing and higher response time in ROS2 comparing to ROS
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