Wireless Communication Latency in Robot Control

Wireless communication is frequently used in robotic systems to exchange data. Sometimes, the instructions that need to be processed are computation-heavy; for this reason, we communicate with the edge cloud, where these complex instructions are done. In such systems, network delay might be critical and may affect performance and reliability. My thesis investigates the measurement of wireless communication latency over ROS2 using 2 Raspberry Pis. Two Raspberry Pis communicate over Wifi using a publisher-subscriber paradigm. Messages are timestamped, and delay is computed at the receiver side. Two devices are synchronized using NTP (Network Time Protocol) through the chrony software. Collected data is analyzed via Python to obtain meaningful statistical results and visualizations.