r7vme / zero-copy-demo

Zero-copy Demo

This repo demonstrates zero-copy feature of ROS 2 Galactic.

Demo supports two regimes: with and without zero-copy. When running with zero copy there should be a significantly smaller latency (2ms vs 40ms) and increased frames per second.

DISCLAIMER: This demo intended to only demonstrate a specific use case, where zero-copy can be used. For objective measurements of middleware performance, use performance_test.

Usage

Install ade cli. ADE uses docker, please make sure that docker is installed.

cd /tmp
wget https://gitlab.com/ApexAI/ade-cli/-/jobs/1341322851/artifacts/raw/dist/ade+x86_64 -O ade
chmod +x ade
sudo mv ade /usr/local/bin

Build demo environment (docker image)

git clone https://github.com/r7vme/zero-copy-demo
cd zero-copy-demo
docker build -t zero-copy-demo .

Start demo environment (docker container)

ade start --enter

IMPORTANT: All commands below should be run from with-in ADE.

Build demo source code

./build.sh

Download any Full HD video (1920 x 1080) as video.mp4 to current folder. For example, this video can be used.

Finally run the demo:

1. Without zero-copy ./run.sh
2. With zero-copy ./run.sh --zero-copy

To stop the demo. In new terminal run

cd zero-copy-demo
ade enter
tmux kill-session -t demo

To stop ADE environment (docker container)

cd zero-copy-demo
ade stop