/dora-benchmark

Benchmarking tool to evaluate dora-rs speed of communication witihin different scenarios ⚡🚀💨🏃

Primary LanguagePython

Robotic Dataflow Benchmark

Getting started

## If you do not have dora-rs installed
# sudo apt update && sudo apt-get install wget
cargo install dora-cli --locked
pip install dora-rs==0.3.2
## In development, within the dora-node-api-python folder, You can also use:
## maturin develop --release

## To test Python version of dora
cd dora-rs/py-latency
dora up

### For operators
dora start dataflow_op.yml --attach
# Ctrl + C at the end

cat benchmark_data.csv

## To test Rust version of dora
## This requires that dora-rs is placed at: "../../../dora/apis/rust/node"
cd dora-rs/rs-latency
cargo build --release --all
dora start dataflow.yml

Getting started ROS2 Python

docker run --network=host -e DISPLAY=${DISPLAY} -v $(pwd):/dora-benchmark -it osrf/ros:humble-desktop

# Within the docker container
cd dora-benchmark/ros2/py_pubsub
colcon build
. install/setup.bash
ros2 run py_pubsub listener & ros2 run py_pubsub talker
cat time.csv