performance_test

Introduction

• performance_test
• performance_report
• Performance Testing in ROS 2

Setup

Build performance_test following the official instructions:

• https://gitlab.com/ApexAI/performance_test#building-the-performance_test-tool

Clone configuration files repository in the home directory:

git clone https://github.com/ros-realtime/performance_test_rt_cfg.git

Run the experiments

# It takes around 24 minutes
ros2 run performance_report runner \
--log-dir $log_dir \
--test-name experiments \
--configs ~/ros_realtime_benchmarks_config/performance_test/runner/run_compare_all.yaml

Generate the reports

ros2 run performance_report reporter \
--log-dir $log_dir \
--configs ~/ros_realtime_benchmarks_config/performance_test/reporter/compare_experiment_settings/*.yaml