Pretty sure this was the issue giving me trouble on a ROS application for remote sensing. I have hardware trigger signal, a bank of cameras, and a gps/ins unit

Pretty sure this was the issue giving me trouble on a ROS application for remote sensing. I have hardware trigger signal, a bank of cameras, and a gps/ins unit which emits an exact time/space stamp, all off the trigger. It is a very ROS-esque app, with camera and gps "drivers" which parse the data into ROS messages which are published. Occasionally, the tiny gps packet gets delayed way longer than the image buffering, which throws everything out of whack. Then I discovered the TCP_NODELAY flag, which made this occurence go from 1/100 to 1/+10,000. Had to do some digging to understand "why would anyone want to delay packets ever?" the answer of course being naive code writing one byte at a time to sockets.