But according to a performance benchmark of the magpi magazine, the Raspberry Pi 4 can provide up 58/114 Mbps, while the Raspberry Pi 3 is at 59/97.67 Mbps. In principle, this should be the same performance.

The 802.11ac 5GHz protocol delivers 433 to 6933 Mbit/s, and the 802.11n protocol between 72 to 600 Mbit/s. Comparing the Wi-FI Capabilities, here are the specs: The different versions of the Raspberry Pi also provide different hardware capabilities. This article originally appeared at my blog .įirst of all, lets consider the hardware itself. It details the considerations, findings, and experiments to get to an adequate performance. This article investigates network performance optimizations when using a Raspberry Pi 4 with ROS over Wi-Fi. Assuming the raw Image data are JPEG files, then a topic which publishes 30hz would require about 30 MB/s upload speed. In the last stages of the investigation, I measured the raw network upload speed of my Raspberry Pi 4 - its capped at 6 MBs. To find the root cause, I made a systematic test that combines three areas: ROS1 vs ROS2, different versions of the camera SDKs, and different startup parameter for the ROS node. When measuring the topic frequency on the sender, the mobile robot, and the receiver, a stationary Linux workstation, I see a severe data transmission drop: From 30 images to 10, and from 20 point cloud samples to only 3.

The robot publishes raw image data and pointcloud data for navigational purposes over Wi-Fi. In my robotic project, I have a mobile robot with a Realsense D435 camera. When using this connection, you need to consider in which machine to start the ROS core node, which nodes publish topics, and which nodes subscribe to topics. A very common communication protocol is Wi-Fi. Robotic projects with ROS can involve multiple desktop/stationary computers and Single Board Computers that need to communicate.

Raspberry pi zero w wireless setup