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Apex.AI performance_test for eCAL, FastDDS and Protobuf.

Home Page: https://github.com/ZhenshengLee/ros2_jetson_benchmarks

License: Apache License 2.0

CMake 14.31% Shell 0.61% Python 22.28% TeX 0.80% Jupyter Notebook 1.81% C++ 59.79% C 0.17% HTML 0.23%

apex-performance-plotter apex performance ros2 ecal

performance_test's Issues

[FEA] Add rmw_ecal test with zero-copy option.

see https://github.com/continental/rmw_ecal/issues/45#issuecomment-1135604419

Why not just make an MR to performance_test to add eCAL and fast DDS there?

@ZhenshengLee awesome work! Would be great if you could make an MR / PR back to performance_test so that others can also test eCAL and fastdds like you did here.

Would this be something you or @rex-schilasky would consider?

Also, it appears you had some issues setting up cyclonedds zero copy (specifically configuring the roudi). Would be happy to help you out here if needed.

请问分布式系统的Continental eCAL with protobuf 该怎么使用

我在局域网中的两台电脑上部署了代码，怎么才能测试UDP模式下的传输性能？

使用以下指令只能在本地模式运行，两台电脑无法测试。

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

[communication] unbounded message size doesn't work

reproduce process:

test cmd > perf_test -c FastRTPS -m UnboundedSequence --unbounded-msg-size 1024000 -p 1 -s 0
check message size in the msg serialization. performance_test::msg::FastDDSGen::UnboundedSequence::serialize @ fast_rtps/gen/fast_rtps/UnboundedSequence.cxx
The m_unbounded_sequence.size() is always zero.

请确认上述问题（在fastrtps通信方式下，unbounded-msg-size参数没有设置到unbound message消息体中）是否已在1.3.7版本之后的版本中修复，谢谢

[BUG] protobuf layer outputs deserialization error `missing required fields` with eCAL.

steps

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

actual

EDIT: the behavior happens sometimes but not periodically.

[libprotobuf ERROR google/protobuf/message_lite.cc:121] Can't parse message of type "performance_test.msg.EcalGen.Array1k" because it is missing required fields: msg_array_size, time, id.

comment

protobuf issue?

aditional info

libprotobuf-dev:amd64                                       3.6.1.3-2ubuntu5

[BUG] data timestamp consistency violated with eCAL.

steps

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

actual

terminate called after throwing an instance of 'std::runtime_error'             
  what():  Data consistency violated. Received sample with not strictly older timestamp. Time diff: -5739 Data Time: 435507319158649                                                                   
Aborted (core dumped)

comment

qos function of eCAL is abnormal.

EDIT:

aditional info

Simply comment the qos settings for CSubscriber and CPublisher will ~~clear~~ NOT CLEAR this fault.

// m_publisher->SetQOS(writerQos);
// m_subscriber->SetQOS(ReaderQos);
m_publisher->ShmSetBufferCount(1);

will clear this fault

But this issue needs to be fixed.

[BUG] [DATA_WRITER Error] Data sharing cannot be used with unbounded data types with FastDDS.

zs@zs-3630:~/zs_ws/ga_ros2/colcon/install/performance_test/lib/performance_test$ ./perf_test -c FastDDS --msg Struct16 -p 1 -s 0 -r 1000 --zero-copy
Experiment id: 9332eda8-7c7d-4180-aa39-95b80aca6a70
Performance Test Version: fba0fe4-dirty
Logfile name: results_test_topic_11-05-2022_17-08-14.csv
Communication mean: FASTDDS
RMW Implementation: rmw_cyclonedds_cpp
DDS domain id: 0
QOS: Reliability: BEST_EFFORT Durability: VOLATILE History kind: KEEP_ALL History depth: 1000 Sync. pub/sub: 0
Publishing rate: 1000
Topic name: test_topic
Msg name: Struct16
Maximum runtime (sec): 0
Number of publishers: 1
Number of subscribers: 0
Memory check enabled: 0
With security: 0
Zero copy transfer: 1
Unbounded message size: 0
Roundtrip Mode: NONE
Ignore seconds from beginning: 0

2022-05-11 17:08:14.751 [DATA_WRITER Error] Data sharing cannot be used with unbounded data types -> Function check_datasharing_compatible
Segmentation fault (core dumped)

[FEA] Add zenoh middleware support.

Needs some considerations. Using c api? zero-copy?

zhenshenglee / performance_test Goto Github PK

performance_test's Issues

t1

t2

steps

actual

comment

aditional info

steps

actual

comment

aditional info

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