What impact does autoware have on lidar point clouds in terms of bandwidth transmission?

[The-wind-rises-2023]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

When we tested on a dual ORin device, we found that when one ORin runs a semi-solid lidar driver, the point cloud frequency will decrease after the other ORIN starts autoware.

Expected behavior

Normal point cloud frequency：10hz

Actual behavior

Only 7hz

Steps to reproduce

One of the dual orins runs the radar driver, and the other orin observes the point cloud frequency before and after starting autoware.

Versions

Jetpack5.1.2 Docker autoware1.0 ros humble

Possible causes

No response

Additional context

No response

[knzo25]

@The-wind-rises-2023
We experience that phenomena not only on Jetson devices but on other ECUs, desktops, etc.
Usually you need to tune your dds and network adapter settings.
This not really an autoware issue but general ROS/particular driver issue

[idorobotics]

@knzo25 are you able to share your DDS parameter and/or network settings?

[knzo25]

Mostly we use this
https://autowarefoundation.github.io/autoware-documentation/main/installation/additional-settings-for-developers/

And tune as needed depending on our sensors. Other than that, MTU size on the interface.

[meliketanrikulu]

Hello @idorobotics . Did you tested with new DDS configs? Is this documentation fixed your problems ?

[idorobotics]

Hello @idorobotics . Did you tested with new DDS configs? Is this documentation fixed your problems ?

cc @knzo25

[knzo25]

I think you meant to mention @The-wind-rises-2023