MicroROS multi client capacity

Community Groups OpenEmbedded
1

Hello!

I’m working on a project where I plan to use micro-ROS across 60 Teensy boards. Although the application is not strictly robotics-related, the ROS structure — especially topics and tf — fits the project’s architecture very well.

Each Teensy would publish a point cloud (up to 1500 points) and a corresponding tf topic. However, due to hardware limitations, I haven’t been able to test the setup in practice.

I couldn’t find solid information about how many micro-ROS clients a single agent can support, especially when dealing with moderate-size messages like point clouds and tf data.

Any insights or experience on scalability, performance limits, or potential bottlenecks with many clients would be greatly appreciated.

Thanks in advance!

2

Have you found any evidence that the agent can handle more than 1 client? I always thought about it as a 1:1 relationship.

3

Hi Jim,

This is the community group for OpenEmbedded. OpenEmbedded is Linux-based and we use the full ROS stack. It would be interesting to include micro-ROS, but we don’t have it included at this time.

For more information about OpenEmbedded, the Yocto Project, and our work on meta-ros check out the following links:

If this is something that anyone would be interested in adding to OpenEmbedded and meta-ros, I’d be happy to talk about it.

OpenEmbedded does support building Zephyr using the meta-zephyr layer. It would be an interesting project to build micro-ROS for it.

Regards,
Rob