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Toolbox for Benchmarking ROS2 Performance

Deterministic and parametrizable publishers and subscribers for benchmarking ROS2 performance.

TL;DR:

Start publisher: ros2 run ros2_performance publisher --ros-args -p mb:=10.00 -p hz:=10.0

Start subscriber: ros2 run ros2_performance subscriber

Measures

  • CPU usage of each node (subscriber/publisher)
  • Message publishing throughput (publisher)
  • Message reception rate (subscriber)
  • Message gaps (subscriber lags)

Use Cases

  • DDS tuning
  • QOS tuning
  • Network checking
  • Measuring lag and throughput (roughly)

Content

  • Node publisher
    Parameters
    • mb [float]: Package size
    • hz [float]: Rate of publishing
  • Node subscriber

Getting Started

  • Clone to your ros_ws
  • Build and source the workspace

Usage Examples

  1. Start some publishers
  • First publisher in one terminal:
    ros2 run ros2_performance publisher --ros-args -p mb:=10.00 -p hz:=10.0
  • Second publisher in another terminal:
    ros2 run ros2_performance publisher --ros-args -p mb:=10.00 -p hz:=10.0
  1. Start some subscribers
  • First subscriber in one terminal:
    ros2 run ros2_performance subscriber
  • Second subscriber in another terminal:
    ros2 run ros2_performance subscriber
  1. Observe output
  2. Tune your DDS/QOS/Network settings and repeat.

Happy tuning!

Example output:

Publisher

[INFO] [1670234709.474729087] [test_pub_815]: 9.0% - 9.99 Hz publishing
[INFO] [1670234711.478127708] [test_pub_815]: 9.0% - 9.98 Hz publishing
[INFO] [1670234713.481909428] [test_pub_815]: 8.5% - 9.98 Hz publishing
[INFO] [1670234715.485013885] [test_pub_815]: 9.0% - 9.99 Hz publishing

Subsciber

[INFO] [1670234704.964654462] [test_sub_563]: 18.80 Hz reception, 28.9% CPU, max_gap=0.105
[INFO] [1670234706.968516150] [test_sub_563]: 17.47 Hz reception, 25.9% CPU, max_gap=0.102
[INFO] [1670234708.972395378] [test_sub_563]: 18.96 Hz reception, 27.4% CPU, max_gap=0.104
[INFO] [1670234710.973045592] [test_sub_563]: 16.99 Hz reception, 25.0% CPU, max_gap=0.107