Q: Does the map also consume bandwidth even though the ROS topic is not updating, nor the map?

• If I increase the localization stream to be at 5 Hz instead 1 Hz, does the map also consume bandwidth even though the ROS topic is not updated, nor the map?
• Let's say I have a 2D map whose size is 100KB. If I increase from 1 Hz to 5 Hz does that also increase the bandwidth from 100 KB/s too 500 KB/s? Or is it only published when there is a change in the "map" data?

Since the map is published by a map server, it is only published once when a new subscriber requests it. We will not re-ingest a whole map each time the localization datapoint is ingested. Instead, we ingest it once when the Formant ROS bridge node subscribes to the topic, and then the same asset URL is re-used with each localization data point (as opposed to attaching the actual map data).

See also

• How telemetry streams work
• Add a ROS localization stream

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