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Introduction

This test allows you to test performance and latency of various communication means like ROS 2, FastRTPS, Connext DDS Micro.

It can be extended to other communication framworks easily.

Are detailed description can be found here: Design Article

How to build and run

  1. Clone the repository into your ament workspace.
  2. Source your ROS 2 environment: source /opt/ros/ardent/local_setup.bash
  3. Build: ament build --parallel --build-tests --cmake-args -DCMAKE_BUILD_TYPE=Release --
  4. Source local installation: source install/local_setup.bash
  5. Configure experiment configuratin in performance_test/helper_scripts/run_experiment.py
  6. Run an experiment: performance_test/helper_scripts/run_experiment.py
  7. Plot results (requires pandas): performance_test/helper_scripts/performance_test_file_reader.py