F3 · Robotics & Embodied
Tune Zenoh Performance over Wireless Networks (Part 3)
Overview
Continuing the ROS 2/Zenoh system of L20–L21, this guide establishes a comparable wireless-network baseline using fixed measurement of `/scan`, camera image, point cloud and link traffic. The workflow first simulates bandwidth, latency, jitter and packet loss with `tc`/`netem`, then evaluates, item by item on a Raspberry Pi 2.4 GHz Wi-Fi, how compression, downsampling, access control and QoS affect rate, bandwidth and regularity. This evidence-driven tuning process helps robotics developers make traceable transport-policy choices based on message importance, integrity and limited bandwidth.
Scope of verification
- It is a Zenoh wireless-tuning reference workflow on the specified Arm server, Raspberry Pi and simulated sensor workload, validating the observable impact of network impairment and multiple traffic policies.
- Dependencies include the L20/L21 environment, 2.4 GHz Wi-Fi, `tc`/`netem`, fixed `/scan`/image/point-cloud traffic, identical Zenoh configuration and a repeatable measurement procedure.
- Results vary with signal, interference, access point, hardware and message size; `tc`/`netem` can only simulate part of the network constraints, and access control is not authentication or encryption, so general optimal settings or production security are not covered.
Canonical source: https://learn.arm.com/learning-paths/cross-platform/tuning-zenoh-ros2-lp3/
This page is a guided summary with boundary notes, not an official reproduction.
This page is a guided summary with boundary notes, not an official reproduction.