I am pinging ROS1 and ROS2 from Net. Yes they are short bursts. BUT - here is some data:
Net - ROS2 without load
1458 bytes from 10.2.21.1: icmp_seq=998 ttl=59 time=25.8 ms
1458 bytes from 10.2.21.1: icmp_seq=999 ttl=59 time=20.9 ms
1458 bytes from 10.2.21.1: icmp_seq=1000 ttl=59 time=20.4 ms
— 10.2.21.1 ping statistics —
1000 packets transmitted, 899 received, 10% packet loss, time 38119ms
rtt min/avg/max/mdev = 19.479/35.192/196.361/19.200 ms, pipe 7, ipg/ewma 38.157/28.576 ms
gw:~ #
Net - ROS2 with BTtest between ROS1 and ROS2
1458 bytes from 10.2.21.1: icmp_seq=998 ttl=59 time=41.9 ms
1458 bytes from 10.2.21.1: icmp_seq=999 ttl=59 time=46.1 ms
1458 bytes from 10.2.21.1: icmp_seq=1000 ttl=59 time=84.2 ms
— 10.2.21.1 ping statistics —
1000 packets transmitted, 999 received, 0% packet loss, time 62403ms
rtt min/avg/max/mdev = 38.423/52.016/119.428/9.176 ms, pipe 3, ipg/ewma 62.466/53.065 ms
Net - ROS1 with BTtest between ROS1 and ROS2
1458 bytes from 10.2.20.1: icmp_seq=998 ttl=60 time=18.5 ms
1458 bytes from 10.2.20.1: icmp_seq=999 ttl=60 time=22.8 ms
1458 bytes from 10.2.20.1: icmp_seq=1000 ttl=60 time=17.5 ms
— 10.2.20.1 ping statistics —
1000 packets transmitted, 998 received, 0% packet loss, time 29653ms
rtt min/avg/max/mdev = 17.420/22.277/85.892/6.790 ms, pipe 4, ipg/ewma 29.682/20.549 ms
Net - ROS1 without load
1458 bytes from 10.2.20.1: icmp_seq=997 ttl=60 time=19.6 ms
1458 bytes from 10.2.20.1: icmp_seq=999 ttl=60 time=61.4 ms
1458 bytes from 10.2.20.1: icmp_seq=1000 ttl=60 time=39.1 ms
— 10.2.20.1 ping statistics —
1000 packets transmitted, 895 received, 10% packet loss, time 36913ms
rtt min/avg/max/mdev = 17.497/31.479/216.114/25.139 ms, pipe 9, ipg/ewma 36.950/28.854 ms
As you can see, this is 1000 1450 byte packets using adaptive ping rate. I consider that quite a good load for testing. Still the effect remains. I just don’t get why running bandwith test between ROS1 and ROS2 influences the link from Net to ROS1 ?