Data loss in the inter-device communication

[changkk]

Hi, I am using two devices (x86 and Nvidia Jetson xaiver AGX) using the same CYBER_IP to communicate between two devices.

To reproduce the issue, I am sending from x86 device is lidar point cloud which is 1.38Mb per frame and 10Hz (so 13.8Mb/s) to another device AGX via Cyber. The ethernet interface that connects two devices supports up to 1000 megabits and confirmed sending/receiving data on the connection side isn't a problem. However, on the AGX side, the frequency of the lidar point cloud channel drops to 5~8Hz not 10 Hz in the cyber_monitor (the frequency of lidar channel on the x86 side in cyber_monitor is full 10Hz though). I tried to change the reader/writer config using qos_profile() in apollo::cyber::proto::RoleAttributes, but it didn't solve the issue.

Is there any other way I can configure the cyber transport to solve this issue? Thank you!