Rouen Rive Droite train station small?

Here is the map of the station: https://www.gares-sncf.com/fr/gare/frurd/rouen-rive-droite/plan-de-la-gare. I don't know how fast you can walk but most people should be able to make it.

It is not an immense train station. I would say it is rather easy. 16 minutes should be plenty. Remember, often times trains don't arrive but a few minutes before departure. At this train station you will take an escalator or stairs up.

Unless, of course, you luck out and your connection is on the same platform.

Rouen has two train stations. As long as both trains are at the same station, and you don't have any unusual issues with mobility, you have plenty of time.

Are you dragging a lot of bags? That will slow you down some.