ros2_perf_test

Package to run a simple ROS2 pub/sub performance test

How to install

Clone into your ROS2 workspace and build:

mkdir -p ~/ws/src
cd ~/ws/src
git clone git@github.com:berndpfrommer/ros2_perf_test.git

How to run performance tests under ROS2 using fastrtps DDS

Prepare:

cd ~/ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
. install/setup.bash

Point to fastrtps config file:

cd ~/ws/src/ros2_perf_test
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=`pwd`/FastRTPSProfiles.xml
export RMW_FASTRTPS_USE_QOS_FROM_XML=1
export RMW_FASTRTPS_PUBLICATION_MODE=ASYNCHRONOUS

Run publisher in one terminal (for standard message tests):

ros2 run ros2_perf_test publisher_node -r 40.0 -s 1000000 -q 1

Run subscriber in another terminal (separated by slow link/wifi!):

ros2 run ros2_perf_test subscriber_node

The moment the subscriber connects, the publisher rate drops:

[INFO] [1676144437.578775442] [test_publisher]: size: 1000000 rate: 39.99 bw:  319.944 Mbits/s
[INFO] [1676144438.628021027] [test_publisher]: size: 1000000 rate: 30.50 bw:  243.987 Mbits/s
[INFO] [1676144439.673727937] [test_publisher]: size: 1000000 rate: 15.30 bw:  122.402 Mbits/s
[INFO] [1676144440.740182488] [test_publisher]: size: 1000000 rate: 13.13 bw:  105.023 Mbits/s

How to achieve nonblocking publish under ROS2:

Unfortunately this is only possible under FASTRTPS. No other DDS seems to offer this option.

cd src/ros2_perf_test
export FASTRTPS_DEFAULT_PROFILES_FILE=`pwd`/FastRTPSProfiles.xml
export RMW_FASTRTPS_USE_QOS_FROM_XML=1
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp

License

This software is issued under the Apache License Version 2.0.