ros2-simple-performance

Simple ROS 2 benchmark tool

Build

mkdir -p ~/ros2_performance_ws/src && cd ~/ros2_performance_ws/src
git clone https://github.com/evshary/ros2-simple-performance.git
cd ..
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

Run

• Terminal 1: Run pong

ros2 run simple_performance pong
# Run without info
ros2 run simple_performance pong --ros-args --log-level warn
# Run with QoS
ros2 run simple_performance pong --ros-args -p reliability:=BEST_EFFORT -p durability:=TRANSIENT_LOCAL -p history:=KEEP_ALL

• Terminal 2: Run ping

ros2 run simple_performance ping
# Run without info
ros2 run simple_performance ping --ros-args --log-level warn
# Run with QoS
ros2 run simple_performance ping --ros-args -p reliability:=BEST_EFFORT -p durability:=TRANSIENT_LOCAL -p history:=KEEP_ALL
# Other configuration
ros2 run simple_performance ping --ros-args -p warmup:=5.0 -p size:=32 -p samples:=100 -p rate:=10