What causes delay?
- Parsing and marshalling of messages
- Service discovery
- Docker network driver
- Hardware network controller
- Message size
- QoS settings
- With / without reconstruction layer
- (De-/) centralized discovery service
- Ordinality (one to many)
- Wait Sets / Listener
- Performance optimizations
- Using message instances (DevGuide 2.2.1)
- Reading multiple samples (DevGuide 2.2.2)
- Zero Copy Read vs. Single Copy Read (DevGuide 2.2.3)
- Shared Memory
- rtps_udp cross host
- tcp cross host
- How does DDS scale when increasing the message size?
- How does DDS scale when increasing the number of subscribers?
- Prediction: No change at all because each message is sent only once. How about unicast?
- Which Docker network driver performs best?
- How many resources does Docker use when vertically scaling a subscriber on the same node?
- 2 Raspberry Pis 3rd gen
- 100 Mb/s Switch
- Cat 5e twisted pair Ethernet cables
Threats to Validity
- We're only testing with two nodes.
- Network bandwith limitations of hardware