ping_pong_measurer_ros2

Prerequisites

Setup two Raspberry Pi 4 as ping/pong targets by using https://github.com/b5g-ex/setup_ping_pong_pi.

Follow the README.md to setup.

How to measure

On Pong target

1. start pong node by make run_pong under ros2_ws directory.
2. confirm all node starts up by following command which returns node counts.
   $ ros2 node list | grep pong | wc -l
   this is necessary because starting nodes takes a time.

On Ping target

1. start ping node by make run_ping under ros2_ws directory.
2. confirm all node starts up by following command which returns node counts.
   $ ros2 node list | grep pong | wc -l
   this is necessary because starting nodes takes a time.
3. start starter node by make run_starter under ros2_ws directory.
   starter triggers measurement.
   data is stored under ros2_ws/data/

changeable parameters

We can change following parameters by modifying Makefile,

• --pong-node-count
  • we need to change both ping and pong node count SAME.
• --ping-pub & --ping-sub
  • 'single' or 'multiple'
• --payload-bytes
• --measurement-times
• --enable-os-info-measuring
  • If you specify this option, os-info is measured but RTT is not measured.

about 'single' or 'multiple'

--ping-pub single --ping-sub single

--ping-pub single --ping-sub multiple

--ping-pub multiple --ping-sub single

--ping-pub multiple --ping-sub multiple