This package provides:

• ROS 2 nodes for testing ROS 2 performance;
  • CPU usage
  • CPU temperature
  • Memory usage
  • Latency
  • Amount of network communications
• A notebook for analysing the data and draw figures.

git clone https://github.com/kaorunishikawa/ros2_test.git path/to/somewhere/in/your/machine/

If you need the previous version:

git clone -b v1.0.0 https://github.com/kaorunishikawa/ros2_test.git path/to/somewhere/in/your/machine/

• Executor configuration in 1 PC:

. exec_bunch_num_test.sh <NUM>

where <NUM> is number of dummy pub/sub pairs to launch. With some ROS 2 nodes launched, this command can test the load of the nodes assigning the number 0:

ros2 launch <arbitrary launch file>
. exec_bunch_num_test.sh 0

The data is recorded in your ~/Documents/result_(date and time) directory. The path is displayed at the top and the last line of the terminal.

This analysis tool uses xarray and other packages. Please configure the environment using

poetry install

or install them manually (list of packages needed is in [tool.poetry.dependencies] section of pyproject.toml).

Open analysis/analysis.ipynb, specify where the data is stored, and run draw_figure(path).

To test multiple machines performance,

• comment out or configure Publisher nodes or Subscriber nodes accordingly (avoid conflict of node name, etc.) in ros2_test/exec_node.py
• assign an environment variable ROS_DOMAIN_ID if needed
• remote launch (using the shell script or launch file) the nodes via shellscript/ros2_performance_test.sh