Great work! It’s these kind of initiatives that prevent a lot of hard-to-debug scenarios when working with real robots!
May I ask what the origin of these numbers are?
# for rmw_zenoh
sudo sysctl -w "net.ipv4.tcp_rmem=102400 102400 102400"
sudo sysctl -w "net.ipv4.tcp_wmem=102400 102400 102400"
sudo sysctl -w "net.ipv4.tcp_mem=102400 102400 102400"
# for all middlewares
sudo sysctl -w net.ipv4.udp_mem="102400 873800 16777216"
sudo sysctl -w net.core.netdev_max_backlog="30000"
sudo sysctl -w net.core.rmem_max="20971520"
sudo sysctl -w net.core.wmem_max="20971520"
sudo sysctl -w net.core.rmem_default="20971520"
sudo sysctl -w net.core.wmem_default="20971520"