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Official ROS-TCP-Connector Update

Discussion in 'Robotics' started by LaurieUnity, Jun 3, 2021.

  1. LaurieUnity

    LaurieUnity

    Unity Technologies

    Joined:
    Oct 23, 2020
    Posts:
    77
    Hi all, we just released a new update to the ROS-TCP-Connector and ROS-TCP-Endpoint repos, featuring a complete rewrite to the networking layer. Unity should no longer slow down or drop messages in response to heavy traffic, and in general sending and receiving ROS messages is much faster.

    Moreover, there's no longer a requirement for Unity to receive incoming connections on a separate IP address, which should remove a lot of troubleshooting issues relating to firewalls etc.

    And finally, there's a new connection icon in the Hud to show at a glance whether ROS has connected, has an error, and whether messages are being sent and/or received.

    If you update, you must update both the Unity package and the ROS package to version 0.4.0. (You can just pull the latest version.)

    Happy connecting!
     
    LaurieUnity, Jun 3, 2021
    #1
    mikkogroketech, anav42, joaomacp and 1 other person like this.

  2. boersigjanis

    boersigjanis

    Joined:
    Jul 8, 2020
    Posts:
    2
    Hi, thanks for the great Update!

    As a question though, how could you run multiple instances of the Ros-Tcp-endnode and connect to them separately?
    I've build a Lidar and Camera Simulator and it seems to work great, but when I up the hz of the sensors above something like 10hz, then the python 2 endnode spikes in CPU usage and I get an accumulative latency that gets worse and worse. (I have the queue size at 1)


    For reference, here is the Simulator:
    https://github.com/ja99/LidarCameraSimUnity

    The code is currently a bit rough, but it seems to work fine on unity's side.

    Thank you in advance!
     
    boersigjanis, Jul 1, 2021
    #2

  3. boersigjanis

    boersigjanis

    Joined:
    Jul 8, 2020
    Posts:
    2
    boersigjanis, Jul 5, 2021
    #3