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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