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How to setup environment to test latency of publisher and subscriber scenarios

I want to setup an environment where I can check latency of different publisher and subscriber scenarios in different architectures.How can I do it??

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Here is a recent 2018 paper from Robotics and Autonomous Systems that touches on this topic:

In order to reproduce the network scenarios described before (localhost, Gigabit ethernet and WiFi networks), we take advantage from Linux NetEm [46]. This module allows the simulation of network delays. Moreover, we are able to simulate bandwidth and packet loss.

[46] S. Hemminger, Network Emulation with NetEm, in: Linux Conf Au, 2005. URL

Looks like they’ve also released there code for the experiments here: