github repo of apex.ai performance_test for more middlewares

This is not the official repo of apex.ai performance_test, please goto the gitlab

introduction

Added works

• eCAL5.10.x rosidl type support
• eCAL5.10.x protobuf type support
• FastRTPS upgrade to 2.3.x
• FastDDS upgrade to 2.3.x
• FastDDS zero-copy transport
• performance test automation tool for jetson

stars and issues are welcomed!

version control policy

I’ll try my best to make the branch of repo to rebase with the latest commit of the official one ant take good care of the conflicts.

the latest MR canbe seen in gitlab official repo

Middleware plugins

Native plugins

Continental eCAL with raw rosidl

• eCAL 5.10.x
• CMake build flag: -DPERFORMANCE_TEST_ECAL_RAW_ENABLED=ON
• Communication plugin: -c ECAL_RAW
• The eCAL plugin is not a complete DDS implementation.
  • Some DDS-specific options (such as domain ID) do not apply.
• Zero copy transport (--zero-copy): yes
• Default transports: | INTRA | IPC on same machine | Distributed system | |——-|———————|————————————-| | INTRA | SHM | Not supported by performance_test |

ps:

• eCAL::CPublisher is used.
• rosidl datatype is used.

source /opt/ros/galactic/setup.bash
cd ~/perf_test_ws
colcon build --cmake-args -DPERFORMANCE_TEST_ECAL_RAW_ENABLED=ON
source ./install/setup.bash

mkdir experiment
# t1
./install/performance_test/lib/performance_test/perf_test -c ECAL --msg Array1k -p 0 -s 1
# t2
./install/performance_test/lib/performance_test/perf_test -c ECAL --msg Array1k -p 1 -s 0

Continental eCAL with protobuf

• eCAL 5.10.x
• CMake build flag: -DPERFORMANCE_TEST_ECAL_PROTO_ENABLED=ON
• Communication plugin: -c ECAL_PROTO
• The eCAL plugin is not a complete DDS implementation.
  • Some DDS-specific options (such as domain ID) do not apply.
• Zero copy transport (--zero-copy): no
  • ser/deserialization cannot be avoided with protobuf
• Default transports: | INTRA | IPC on same machine | Distributed system | |——-|———————|————————| | INTRA | SHM | UDP |

ps:

• eCAL::protobuf::CPublisher is used.
• proto2 protocol is used.
• proto files are auto-generated by message-schemas

source /opt/ros/galactic/setup.bash
cd ~/perf_test_ws
colcon build --cmake-args -DPERFORMANCE_TEST_ECAL_PROTO_ENABLED=ON
source ./install/setup.bash

mkdir experiment
# t1
./install/performance_test/lib/performance_test/perf_test -c ECAL_PROTO --msg Array1k -p 0 -s 1
# t2
./install/performance_test/lib/performance_test/perf_test -c ECAL_PROTO --msg Array1k -p 1 -s 0

eProsima FastRTPS

• FastDDS 2.3.x
• CMake build flag: -DPERFORMANCE_TEST_FASTRTPS_ENABLED=ON
• Communication plugin: -c FastRTPS

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