Benchmarks for ROS 2.0 clients

This folder contains code used to measure the performance between different ROS 2.0 clients.

Prerequisites

1.Install ROS 2.0 from binary

You can download the latest binary package of ROS2 from here and follow the instructions to setup the environment.

• Linux

• macOS

• Windows

  2.Install Node.js

Download the latest LTS edition from https://nodejs.org/en/

3.Get the code and install

Benchmark directories

The table lists the directories for each kind of the ROS 2.0 clients.

Directory	Purpose
topic	Benchmarks for publisher and subscription features
service	Benchmarks for client and service features
startup	Benchmarks for measuring the startup time consumption

Run tests

1.Benchmark for rclcpp

• Compile the source files, cd benchmark/rclcpp/ and run colcon build

• The executable files locate at build/rclcpp_benchmark/

• your_benchmark -h for help.

  2.Benchmark for rclpy

• Enter the Python scripts folder benchmark/rclpy/

• python3 your_benchmark -h for help.

  3.Benchmark for rclnodejs

• Enter the Node.js scripts folder benchmark/rclnodejs/

• node your_benchmark -h for help.