Instructions for pendulum demo real-time benchmark

Introduction

• pendulum_control

• Real-time programming in ROS 2

Setup

TODO

Run the demo

Run the pendulum demo with the following settings:

• update period (-u): 1 millisecond

• maximum heap prefault size for dynamic memory (-d): 200 MB

• real-time loop iterations (-i): 60000

• thread priority (-t): 90

• sched policy (-s): SCHED_FIFO

pendulum_demo -d 200mb -t 90 -s fifo -u 1ms -i 60000 -f pendulum_demo_results

See all the options available in the rttest repository.

Generate the plots

rttest_plot pendulum_demo_results

Generate statistics

Use the analyze.py script to show the resulting statistics:

python3 analyze.py | tee pendulum_demo_results_statistics.txt