ros2_issues
Package to demonstrate ROS2 rmw performance problems
How to install
Clone into your ROS2 workspace and build:
mkdir -p ~/ws/src
cd ~/ws/src
git clone git@github.com:berndpfrommer/ros2_issues.git
How to run demo under ROS2
Prepare:
cd ~/ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
. install/setup.bash
Run publisher (here with cyclone dds) in one terminal:
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run ros2_issues publisher_node --ros-args -p num_elements:=5000 -p rate:=1000
Parameters:
num_elements: number of elements in the arrayrate: rate at which to publishq_size: size of send queue
Now run rostopic hz in another window:
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 topic hz -w 100 /test_publisher/array
Check bandwidth and message size;
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 topic bw /test_publisher/array
How to run demo under ROS1
Prepare:
cd ~/ws
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build
. devel/setup.bash
Run publisher (here with cyclone dds) in one terminal:
rosrun ros2_issues publisher_node _num_elements:=5000 _rate:=1000
Parameters:
num_elements: number of elements in the arrayrate: rate at which to publishq_size: size of send queue
Now run rostopic hz in another window:
rostopic hz -w 100 /publisher_node/array
Check bandwidth and message size;
rostopic bw /publisher_node/array
License
This software is issued under the Apache License Version 2.0.