Overview

This package includes two separate tests. Both tests effectively timestamp an rpc service message, sends to a server, which again timestamps the respons and sends it back. Upon receipt, latencies are calculated. The only difference between the two tests are the storage type - either integers or floats. This is important as on some embedded boards, float types can have some problems and also show a marked slowdown depending on whether it is software emulated or not.

Usage

Integral

roscd eros_rpc_latency/bin
./server
./client // in a separate terminal

Latencies will be printed every second, and upon termination of the client (ctrl-c), the average latency will be printed to standard output.

Float

roscd eros_rpc_latency/bin
./float_server
./float_client // in a separate terminal