Dora performance for big vs small bandwidth data

[RobinSchmid7]

I see that dora outperforms ROS2 for high bandwidth topics a lot, what is the performance for small bandwidth high frequency topics? We see that ROS2 shows weak performance on these areas too.

[haixuanTao]

Hey Robin, so, dora-rs currently is not optimised to what it could potentially be for small bandwidth. It should be okay but would not be able to handle >500Hz like frequency low bandwidth unfortunately.

There's a lot we can improve but currently do not have the human bandwidth. 😓

[RobinSchmid7]

Hey Haixuan, thanks a lot, what you have currently is amazing! What is the expected speedup for ~100Hz low bandwidth data?

[haixuanTao]

Thanks! So overall, I'm not super happy with our current bench which should be similar to this: #760

Basically, we have around 1ms of fixed sending<->receiving latency, which is quite big, and I wish I could cut by around half this fixed cost. ( Note that this might fluctuate depending on your CPU performance )

I would think that for 100Hz data you would typically be around the same ballpark with ROS2 everything included, meaning ROS2 protobuf serialization/deserialization included.

[RobinSchmid7]

Got it, I think zmq has potentially some useful implementations for this.