This repo is created as a fast prototype for testing a Vicon-ROS2 system. It is being used while the development of the MOCAP4ROS2 project.
Its main purpose is to analize several QoS features working on diferent OS and with different DDS.
Find https://github.com/ros2/ros2_documentation/blob/master/source/Installation/DDS-Implementations.rst#windows-source-install how to install each DDS.
- Linux:
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp - Windows:
set RMW_IMPLEMENTATION=rmw_fastrtps_cpp
- Linux:
export RMW_IMPLEMENTATION=rmw_opensplice_cpp - Windows:
set RMW_IMPLEMENTATION=rmw_opensplice_cpp
- Linux:
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - Windows:
set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
Cyclone DDS allows you to configure some features on a .xml file.
Check the cyclonedds.xml file. See more here.
You need to set the CYCLONEDDS_URI environment variable.
- Linux:
export CYCLONEDDS_URI=file://{path/to/xml/file} - Windows:
set CYCLONEDDS_URI=file://{path/to/xml/file}
To get some metrics of a given topic, e.g.: /my_custom_topic :
- Bandwidth:
ros2 topic bw /my_custom_topic - Rate:
ros2 topic hz /my_custom_topic - Delay:
ros2 topic delay /my_custom_topic