ros2_benchmark

A reference implementation of non-functional black-box performance benchmarking ⚫ for ROS 2 used in RobotPerf project. See https://github.com/robotperf for all the source code.

Approaches to benchmark performance

             Probe      Probe
             +            +
             |            |
    +--------|------------|-------+     +-----------------------------+
    |        |            |       |     |                             |
    |     +--|------------|-+     |     |                             |
    |     |  v            v |     |     |        - latency   <--------------+ Probe
    |     |                 |     |     |        - throughput<--------------+ Probe
    |     |     Function    |     |     |        - memory    <--------------+ Probe
    |     |                 |     |     |        - power     <--------------+ Probe
    |     +-----------------+     |     |                             |
    |      System under test      |     |       System under test     |
    +-----------------------------+     +-----------------------------+


              Functional                            Non-functional


    +-------------+                     +----------------------------+
    | Test App.   |                     |  +-----------------------+ |
    |  + +  +  +  |                     |  |    Application        | |
    +--|-|--|--|--+---------------+     |  |                   <------------+ Probe
    |  | |  |  |                  |     |  +-----------------------+ |
    |  v v  v  v                  |     |                            |
    |     Probes                  |     |                      <------------+ Probe
    |                             |     |                            |
    |       System under test     |     |   System under test        |
    |                             |     |                      <------------+ Probe
    |                             |     |                            |
    |                             |     |                            |
    +-----------------------------+     +----------------------------+


             Black-Box                            Grey-box

Other past approaches to non-functional black-box performance benchmarking

• ros2_benchmarking : First implementation available for ROS 2, aimed to provide a framework to compare ROS and ROS 2 communications.
• performance_test: Tool is designed to measure inter and intra-process communications. Runs at least one publisher and at least one subscriber, each one in one independent thread or process and records different performance metrics. It also provides a way to generate a report with the results through a different package.
• reference_system: Tool designed to provide a framework for creating reference systems that can represent real-world distributed systems in order to more fairly compare various configurations of each system (e.g. measuring performance of different ROS 2 executors). It also provides a way to generate reports as well.
• ros2-performance: Another framework to evaluate ROS communications and inspired on performance_test. There's a decent rationale in the form of a proposal, a good evaluation of prior work and a well documented set of experiments.
• system_metrics_collector: A lightweight and real-time metrics collector for ROS 2. Automatically collects and aggregates CPU % used and memory % performance metrics used by both system and ROS 2 processes. Data is aggregated in order to provide constant time average, min, max, sample count, and standard deviation values for each collected metric. Deprecated.
• ros2_latency_evaluation: A tool to benchmarking performance of a ROS 2 Node system in separate processses (initially focused on both inter-process and intra-process interactions, later focused). Forked from ros2-performance.
• ros2_timer_latency_measurement: A minimal real-time safe testing utility for measuring jitter and latency. Measures nanosleep latency between ROS child threads and latency of timer callbacks (also within ROS) across two different Linux kernel setups (vanilla and a `RT_PREEMPT`` patched kernel).
• buildfarm_perf_tests: Tests which run regularly on the official ROS 2 buildfarm. Formally, extends performance_test with additional tests that measure additional metrics including CPU usage, memory, resident anonymous memory or virtual memory.