on one NIC all messages are strictly sequential. so how exactly would you send multiple messages at the exact same time? using different hardware?
and why would sequential messages be an issue?
and why not do a bench test? just create couple of threads, each sending messages simultaneously until you reach the limit.
Hi,
I'm also collaborating with Eli on this issue. The problem with sequential messages arises from having a thread that periodically checks the status, while also requiring the arm to respond as quickly as possible to a specific request (i.e., an immediate stop command). This request is time-sensitive. However, since there is only one socket for communication, if we are waiting for a response on a previous request for arm state (e.g., pose, joints, etc.), we have to wait for the previous request to complete, leading to significant delays.
We are wondering if it is possible to open two sockets for communication. If we do so, how would the KukaVarProxy server react? Can it handle more than one socket?