ros2 / ros2/geometry2

Should tf be Reliable or BestEffort?

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#154 5 comments 0 reactions 1 assignee View on GitHub

@tfoote is already working on this.

Since Dec 3, 2020.

enhancement question
Dominant language
C++
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3d 23h
Merged PRs (30d)
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Description

I notice a lot of cases (e.g. spinning up nodes, transform_listeners without their own thread, network latency due to WiFi multicast) where tf throughput will slow to a crawl. Would it make sense to change the /tf QoS from reliable to best effort so it is not subject to this backpressure?

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