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Characterization test for rclcpp comm #634

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1 of 3 tasks
ivanpauno opened this issue Feb 18, 2019 · 2 comments
Closed
1 of 3 tasks

Characterization test for rclcpp comm #634

ivanpauno opened this issue Feb 18, 2019 · 2 comments
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enhancement New feature or request ready Work is about to start (Kanban column)

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ivanpauno commented Feb 18, 2019 •
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Feature request

Related with ros2/ros2#649. The idea is to measure the performance of rclcpp communication, so in the future we can compare different intraprocess mechanisms, intraprocess vs interprocess, etc.

Feature description

Check here: https://gist.github.com/ivanpauno/daee6069a034dabb6374c0d987162cf6

Implementation considerations

Planned tasks:

  1. Use cpp timers to measure publish-to-subscription latency and publish/subscription rate. Log results (Added rclcpp_performance package #636).
  2. Use gperftools to measure cpu/memory usage, publish/subscribe operation time.
  3. Parameterize the test, for varying message length, publishing/subscribers, publishing rate.
@ivanpauno ivanpauno added enhancement New feature or request ready Work is about to start (Kanban column) labels Feb 18, 2019
@ivanpauno ivanpauno self-assigned this Feb 18, 2019
@ivanpauno ivanpauno mentioned this issue Feb 21, 2019
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This are the results of the first task.
https://docs.google.com/document/d/1YRpWajYvXF_RA7nIH3Qe8RFUyVJwJoxVTSpQFJKN18U/edit?usp=sharing

To repro the results:

  • Move to branch ivanpauno/rclcpp-performance (Added rclcpp_performance package #636)
  • In a terminal: ros2 run rclcpp_performance performance_test -d OUTPUT_DIR
  • For reproducing the results skipping the interprocess publish, the patch in the document above should be applied.

@ivanpauno ivanpauno changed the title Characterization tests for rclcpp comm Characterization testaunch/pulls?q=is%3Apr+is%3Acloseds for rclcpp comm Mar 13, 2019
@ivanpauno ivanpauno changed the title Characterization testaunch/pulls?q=is%3Apr+is%3Acloseds for rclcpp comm Characterization test for rclcpp comm Mar 13, 2019
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This was used to test ros2/ros2#649, but it's outdated. Closing!

nnmm pushed a commit to ApexAI/rclcpp that referenced this issue Jul 9, 2022
@ahcorde
added rcl yaml param parser doxyfile (ros2#634)
0d27a03 
* Added rcl yaml param parser Doxyfile

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Added feedback

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Fixed predefined tag

Signed-off-by: ahcorde <ahcorde@gmail.com>
DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this issue Aug 5, 2022
@pijaro @adamdbrw
Performance benchmarking improvements (ros2#634)
e6377d7 
* Performance benchmarking improvements

Signed-off-by: Piotr Jaroszek <piotr.jaroszek@robotec.ai>

* fixed durability qos in config

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Benchmark db files information in one file

Signed-off-by: Piotr Jaroszek <piotr.jaroszek@robotec.ai>

Co-authored-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
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