UDP: What is the right transport hint?

Question

In the various tutorials and ROS documentation I have seen the following variants of hinting that UDP packets should be used. Which is optimal for receiving the current AtlasStates message in DRCSIM?

jointStatesSo.transport_hints = ros::TransportHints().unreliable();
atlasStateSo.transport_hints = ros::TransportHints().reliable().tcpNoDelay(true)
jointStatesSo.transport_hints = ros::TransportHints().unreliable().reliable().tcpNoDelay(true);

On a side note, I am assuming the hand commands and states will switch to UDP as well?

What about IMU packets?

atlas_msgs/AtlasSimInterfaceState? atlas_msgs/AtlasSimInterfaceCommand?

controller_statistics?

clock messages?

Image transport? stereo proc messages?

laser spindle joint states?

laser scans?

Thanks,

Chris

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Originally posted by cga on Gazebo Answers with karma: 223 on 2013-04-27

Post score: 1

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Original comments

Comment by dcconner on 2013-04-28:
https://bitbucket.org/osrf/drcsim/issue/226/atlas\_sim\_interface\_state-needs-timestamp for similar discussion

Answer 1

Answer in comments.

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Originally posted by nkoenig with karma: 7676 on 2013-09-19

This answer was ACCEPTED on the original site

Post score: 0