# ROS 2 Real-Time benchmarks

## Introduction

A project to host ROS 2 real-time benchmark results. It includes benchmark results
for some ROS 2 benchmarking tools.

Some of the experiments included are run with the reference platforms used in the
ROS 2 Real-Time Working Group. For example, a Raspberry PI 4 real-time image
created with the [ros-realtime-rpi4-image](https://github.com/ros-realtime/ros-realtime-rpi4-image)
tool.

## Benchmarks results

[See all the benchmark results](https://ros-realtime.github.io/ros2_realtime_benchmarks/benchmark_results/index.html)

## Benchmark tools

### performance_test

- Results: [performance_test results](https://ros-realtime.github.io/ros2_realtime_benchmarks/benchmark_results/performance_test_benchmarks/index.html)
- Instructions: [performance_test instructions](performance_test_benchmark_instructions.md)
- Repository: [https://gitlab.com/ApexAI/performance_test](https://gitlab.com/ApexAI/performance_test)
- Real-time benchmarks configurations: [performance_test_rt_cfg](https://github.com/ros-realtime/performance_test_rt_cfg)

### pendulum_control

- Results: [pendulum_control benchmarks](https://ros-realtime.github.io/ros2_realtime_benchmarks/benchmark_results/pendulum_demo_benchmarks/index.html)
- Instructions: [pendulum_control instructions](pendulum_demo_benchmark_instructions.md)
- Repository: [https://github.com/ros2/demos/tree/master/pendulum_control](https://github.com/ros2/demos/tree/master/pendulum_control)

### reference_system

- Results: Coming soon
- Instructions: Coming soon
- Repository: [https://github.com/ros-realtime/reference-system](https://github.com/ros-realtime/reference-system)