Performance reviews 🐎

[haixuanTao]

Hardware

product:	Jetson AGX Orin
version:	Not Specified
serial:	1421622124054

Jaeger

Metrics Monitoring

Memory Usage

Mainly Yolov5 model weights

CPU usage. ( small m should be read as percent %)

Plot consume a bit of CPU followed by the FOT planner the rest is marginal.

Things that is not plotted on this graph is rviz that takes about 100%CPU on a thread and ndt_map that takes about 500%. That comes from ROS.

Graph

        flowchart TB
subgraph webcam
  webcam/op[op]
end
  ndt_pose[\ndt_pose/]
  lidar[\lidar/]
subgraph yolov5
  yolov5/op[op]
end
subgraph obstacle_location_op
  obstacle_location_op/op[op]
end
subgraph fot
  fot/op[op]
end
subgraph pid
  pid/op[op]
end
  mavros[/mavros\]
subgraph plot
  plot/op[/op\]
end
subgraph ___dora___ [dora]
  subgraph ___timer_timer___ [timer]
    dora/timer/millis/100[\millis/100/]
    dora/timer/millis/400[\millis/400/]
  end
end
  dora/timer/millis/400 -- tick --> webcam/op
  webcam/op -- image --> yolov5/op
  lidar -- lidar_pc --> obstacle_location_op/op
  yolov5/op -- bbox as obstacles_bbox --> obstacle_location_op/op
  ndt_pose -- position --> obstacle_location_op/op
  ndt_pose -- gps_waypoints --> fot/op
  obstacle_location_op/op -- obstacles --> fot/op
  ndt_pose -- position --> fot/op
  ndt_pose -- position --> pid/op
  fot/op -- waypoints --> pid/op
  pid/op -- control --> mavros
  pid/op -- control --> plot/op
  missing>missing] -- drivable_area --> plot/op
  webcam/op -- image --> plot/op
  missing>missing] -- lanes --> plot/op
  lidar -- lidar_pc --> plot/op
  obstacle_location_op/op -- obstacles --> plot/op
  yolov5/op -- bbox as obstacles_bbox --> plot/op
  ndt_pose -- position --> plot/op
  dora/timer/millis/100 -- tick --> plot/op
  fot/op -- waypoints --> plot/op

Loading

Operator performance

Operator	Time	Notes
Yolov5:	~40-100ms	Using: yolov5n weight
Frenet	~130ms	Using 2 threads