anchor.diff:  
   // NOTE: TODO: give OSX example for mean/std-dev and let readers guess the maximum?. Re-read https://www.azul.com/giltene-how-java-got-the-hiccups/ .
   
  -Latency is an important practical concern in the robotics world that is often poorly understood. I've spent many hours looking for information on the latency of various *software components (operating systems, networking, etc.)*, but have found very little informative data out there. Most benchmarks focus on the maximum throughput and either completely neglect latency, or measure it incorrectly. This post will hit 2 main topics: 1. The details of how you measure latency matters. 2. The OS that you use affects your latency.
  +Latency is an important practical concern in the robotics world that is often poorly understood. I've spent many hours looking for information on the latency of various *software components (operating systems, networking, etc.)*, but have found very little informative data out there. Most benchmarks focus on the maximum throughput and either completely neglect latency, or measure it incorrectly. 
  +
  +This post will hit 2 main topics: 
  +
  +1. The details of how you measure latency matters.
  +
  +2. The OS that you use affects your latency.
   
   My own background is in academic research. I've spent several years as a staff software engineer at the Robotics Institute at Carnegie Mellon University and am a co-founder of HEBI Robotics, a startup developing modular robotic components. We've worked on many different types of robots, including collaborative arms, wheeled robots, walking robots and snake robots.
   
  
positive.code: 
  [NOTE]
  ====
  Dave: Putting a figure up here, even if its a dummy figure showing what you mean in terms of outliers or non-gaussian, and since you mention that visual tools like histograms and percentile plots are important.
  
  Maybe a histogram and percentile distribution of the windows latency data?  That might also help the flow into the next section.
  ====
  
  Because of this, a more efficient way to look at latency is via histograms and percentile plots, e.g., "_99.9% of measurements were below X ms_". There are several good resources about recording latency out there that I recommend checking out, such as link:https://youtu.be/lJ8ydIuPFeU[How NOT to Measure Latency] or link:http://psy-lob-saw.blogspot.com/2015/02/hdrhistogram-better-latency-capture.html[HdrHistogram: A better latency capture method].
  
negative.code: 
  === Latency is not Gaussian
  
  Finally, I'd like to stress again that latency practically never follows a Gaussian distribution. For example, the maximum for OSX is more than 400 standard deviations away from the average. The table for these data sets is below.
  
  [width="80%"]
  |========
  