ADLINK ROS 2 Performance Testing Tools

Developers

• HaoChih, LIN (haochih.lin@adlinktech.com)
• Alan Chen (alan.chen@adlinktech.com)
• Chester Tseng (chester.tseng@adlinktech.com)

License

Apache 2.0 (Copyright 2017 ADLINK Technology, Inc.)

Dependencies

• adlink_ros2_msgs

Compile (examples)

$ cd ~/ros2_ws
$ ament build
OR (build only)
$ ament build --only-packages adlink_ros2_tools

For isolated build
$ ament build --isolated --build-tests --symlink-install --only adlink_ros2_tools

CPU Performance

You need to set your cpu as "performance" mode.
$ sudo ./CURRENT_PKG/script/set_cpu_performance.bash
Verify: $ cat /proc/cpuinfo | grep MHz

Latency (Ping-Pong)

Usage (help function):
$ run adlink_ros2_tools RoundTrip_ping -h

Terminal 1:
$ export RMW_IMPLEMENTATION=rmw_opensplice_cpp
$ RCL_ASSERT_RMW_ID_MATCHES=rmw_opensplice_cpp ros2 run adlink_ros2_tools RoundTrip_pong

Terminal 2: $ ros2 run adlink_ros2_training RoundTrip_ping -h
$ export RMW_IMPLEMENTATION=rmw_opensplice_cpp
$ RCL_ASSERT_RMW_ID_MATCHES=rmw_opensplice_cpp ros2 run adlink_ros2_tools RoundTrip_ping -t 10 -p 1024