ROS2 robots: IP fragment reassembly failures silently break LiDAR delivery over 1GbE
this_is_surabhi · x · 2026-09-07
- Problem: With a robot using a 3D LiDAR + stereo cameras over a 1GbE link between two machines, IMU data published at 200Hz arrived at only 80Hz, the 10Hz PointCloud topic barely crossed at all, and stereo camera data was similarly lost—while all topics worked fine locally.
- Root cause: The author traced it to severe IP fragment reassembly failures, a long-standing issue that had forced all sensor-dependent services onto one machine.
- Fix: Adjusting Eclipse CycloneDDS configuration resolved it; the full debugging write-up is on her blog.
Related event: Robot Sensor Data Loss Traced to IP Fragment Reassembly Failure(4 posts)→
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