benchmark

benchmark

Scripts for gathering and plotting benchmark data.

Test Procedure

1. Set up the environment for rmw_iceoryx2 as per these instructions
2. Clone performance_test

   git clone -b 2.3.0 [email protected]:ApexAI/performance_test.git ~/workspace/src/performance_test

3. Patch performance_test to recognize rmw_iceoryx2_cxx as zero-copy-capable
   1. NOTE: This shall soon be merged upstream to performance_test for convenience

   cd ~/workspace/src/performance_test
   git apply ~/workspace/src/rmw_iceoryx2/benchmark/patch/recognize-rmw-iceoryx2-cxx-as-zero-copy.patch

4. Build performance_test and rmw_iceoryx2_cxx

   cd ~/workspace/
   export RMW_IMPLEMENTATION=rmw_iceoryx2_cxx
   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --build-base "build_perf_$RMW_IMPLEMENTATION" --install-base "install_perf_$RMW_IMPLEMENTATION" --packages-up-to "$RMW_IMPLEMENTATION" performance_test

5. Install dependencies into python env

   cd ~/workspace/src/rmw_iceoryx2/benchmark/
   poetry install

6. Collect data

   export RMW_IMPLEMENTATION=rmw_iceoryx2_cxx
   export ROS_DISABLE_LOANED_MESSAGES=0 # ensures loaning is enabled
   
   source ~/workspace/install_perf_$RMW_IMPLEMENTATION/setup.zsh
   cd ~/workspace/src/rmw_iceoryx2/benchmark
   poetry run python benchmark.py $RMW_IMPLEMENTATION ~/workspace/install_perf_$RMW_IMPLEMENTATION --zero-copy

7. Generate plots

   cd ~/workspace/src/rmw_iceoryx2/benchmark
   poetry run python plot.py ./results