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Add benchmarks for Subscriber and Publisher #101
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Would benchmarking the creation and sending/receiving of messages with allocated portions (such as Strings) vs trivially-copyable portions (such as i32) be of use? Another thing that might be good to benchmark are all the various ROS 2 object creation functions: creating nodes, creating contexts, creating publishers, creating subscribers, etc. More for catching performance regressions than anything else. While these functions mostly involve external ROS 2 code, it would give us insight into the health of the external system. |
@AlexKaravaev Want to revive this to gather some numbers for sending messages in the same process vs between processes? We could construct a message, and then time the duration for
for different message types. See also https://gitlab.com/ApexAI/performance_test |
Hi everyone!
It's a PR for #33, however, I don't really know which of the parts of the library should be benchmarked at first, currently I only have written tests for simple publishing and subscribing for simple string and creating of publisher and subscriber instances.
Ideas that I have about what can be benchmarked:
Please feel free to add some ideas