bandwidth in rt-wmp

Regarding the fact that not all the flows are working, I thinks the problem is that the bandwidth is not enough.

Looking at the config.h I can see that you've three video flows sources and 3 destinations. It means six flows:

0->1,2
1->2,0
2->1,2

plus another six flows of data. You've to take into account that bandwidth (regardless the protocol) is a VERY limited resource.

Really you need all these flows?

In this case you've to reduce the rate of the images or their size (increasing the JPEG compression).

On the other hand I'd like to know at what WIFI frequency are you performing the experiments and what's is the bandwidth of each of the flows.

I'm sure you know how to find out these data but just in case...you can use the following commands:

sudo iwconfig wlan0

and for the bandwidth

rostopic bw /camera0/image_raw/compressed

In any case, you can try to speed up the network using the command:

sudo iwconfig wlan0 rate 6M