Currently we are working with an 11 man team on a research project where we use ROS electric to control a large number of devices in a grid of multiple robot systems.
For this project we are trying to benchmark the amount of nodes and topics that could be used with a single ROS core. So far we noticed that depending on the design (we tried several) the system becomes unstable / unreliable if we use (for example) over 50 topics.
We are quite new using ROS and are trying to determine if ROS topics could be used as a middleware solution when using multiple robots run on a single ROS core with a large amount of nodes and topics.
Does anyone have any experience using ROS with large amount of nodes / topics?
Are there any benchmark results available?
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