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ROS 2 real-time benchmarks

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ROS 2 real-time benchmarks

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Table of contents
- Introduction
Benchmark tools
Benchmark tools
Benchmark results
Benchmark results
- Foxy
  Foxy
  - Pendulum control
    Pendulum control
    
    Rpi4 rt
    Rpi4 rt
    
    Rmw cyclonedds cpp
    Rmw cyclonedds cpp
    
    Pendulum control real-time benchmark
    
    Rmw fastrtps cpp
    Rmw fastrtps cpp
    
    Pendulum control real-time benchmark
- Galactic
  Galactic
  - Cyclictest
    Cyclictest
    
    Idle
    Idle
    
    Cyclictest
    
    Stress cpu 60%
    Stress cpu 60%
    
    Cyclictest
  - Pendulum control
    Pendulum control
    
    Rpi4 rt
    Rpi4 rt
    
    Idle
    Idle
    
    Rmw cyclonedds cpp
    Rmw cyclonedds cpp
    
    Pendulum control real-time benchmark
    
    Stress cpu 60%
    Stress cpu 60%
    
    Rmw cyclonedds cpp
    Rmw cyclonedds cpp
    
    Pendulum control real-time benchmark
  - Performance test
    Performance test
    
    Rpi4 rt
    Rpi4 rt
    
    Idle
    Idle
    
    Rmw cyclonedds cpp
    Rmw cyclonedds cpp
    
    Report compare com mean intra prio90
    
    Report compare prio intra sste
    
    Report compare transport sste prio90
    
    Rmw fastrtps cpp
    Rmw fastrtps cpp
    
    Report compare com mean intra prio90
    
    Report compare prio intra sste
    
    Report compare transport sste prio90
    
    Stress cpu 60%
    Stress cpu 60%
    
    Rmw cyclonedds cpp
    Rmw cyclonedds cpp
    
    Report compare com mean intra prio90
    
    Report compare prio intra sste
    
    Report compare transport sste prio90
    
    Rmw fastrtps cpp
    Rmw fastrtps cpp
    
    Report compare com mean intra prio90
    
    Report compare prio intra sste
    
    Report compare transport sste prio90
  - Reference system
    Reference system
    
    Rpi4 rt
    Rpi4 rt
    
    Idle
    Idle
    
    Rmw cyclone dds
    Rmw cyclone dds
    
    Key performance indicator report
    
    Memory and CPU usage report
    
    Rmw fastrtps cpp
    Rmw fastrtps cpp
    
    Key performance indicator report
    
    Memory and CPU usage report
    
    Stress cpu 60%
    Stress cpu 60%
    
    Rmw cyclone dds
    Rmw cyclone dds
    
    Key performance indicator report
    
    Memory and CPU usage report
    
    Rmw fastrtps cpp
    Rmw fastrtps cpp
    
    Key performance indicator report
    
    Memory and CPU usage report

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 tool.