The repository is used to compare the performance of rmw_zenoh, rmw_cyclonedds, rmw_fastdds.

• Environment Preparation:

  • Native Host: Install ROS 2 rolling and Rust
  • Docker: ./container/container.sh

• Clean the environment

rm -rf build install log src

• Download and build the code

./build.sh

• Run the benchmark

# 1st terminal
source install/setup.bash
ros2 run rmw_zenoh_cpp rmw_zenohd
# 2nd terminal
source install/setup.bash
# throughput test
./throughput.sh
# latency test
./latency.sh

We run the tests with different sizes for every RMW implementations. We'll draw four plots: Throughput, Latency(max, mean, min)

• Throughput: running 60 sec and calculate the average of data_received field.
• latency_mean: running 60 sec and calculate the average of latency_mean field.
• latency_max: running 60 sec and get the maximum value of latency_max field.
• latency_min: running 60 sec and get the minimum value of latency_min field.