Greetings fellow roboticists 
,
I’ve just added something to ros_babel_fish which could be useful to you as well.
I wanted to know how much bandwidth the serialized message on a topic consumes and how much latency the serialization adds.
So, ros_babel_fish_tools got a new tool: stats
While the existing echo allows subscribing to any topic and outputs the message content as JSON or yaml, the new stats also subscribes to any topic, measures the received rate, message latency (if the message has a header and requires synchronized clocks), the deserialization time from serialized message to ROS message, and the bandwidth (based on the size of the serialized message).
Additionally, you can check how compression of the serialized message would affect the bandwidth and latency.
For example, for our filtered point cloud, it makes quite a difference, but for our compressed wide-angle image, it is wasted time.
Thank you for reading to the end, here’s your image:
