ROS2 performance issues with multiple vehicles
-
Has anyone encountered latency issues / stalls in data streams when running ROS2 nodes on multiple vehicles? I'm running ros nodes to publish mocap data as odometry data to sentinel vehicles and am seeing significant performance degradation whenever I have more than 2 vehicles running (see here for more details https://forum.modalai.com/topic/4018/issues-with-multiple-vehicles-on-microhard-network)
I'm reading through the dds documentation to figure out how to tune it to reduce network traffic. Using a discovery server seems like a good option but then it cuts off communication with the microdds-agent and I'm not sure how to get around that. I'm modifying a dds xml profile to try to reduce rtps traffic, but I'm still having issues.
If anyone else has encountered similar issues I'd appreciate any recommendations, thanks!