Skip to content

ROS Cyclone DDS communcations Test

Jump to bottom
Hector Cruz edited this page Jun 17, 2024 · 7 revisions

Test Description

The objective of this analysis is to calculate two key metrics:

  1. Latency: The time it takes for a message produced by a sensor driver to reach an analyser node.
  2. Cyclic Time: The time it takes for the driver to produce a new message.

Sensor Drivers

  • Ouster
  • Velodyne
  • Flir Cameras

Hardware

  • Processor: Intel i7-11800 (up to 4.6 GHz, Hector's Laptop)
  • CPU Governance: performance

The nodes can either run in different processes or within the same process using a component_container.

Ouster Lidar

Topic

  • Name: /sensor/lidar/top/points
  • Message Payload: 12.8 MiB
  • Message Bandwidth: ~126 MiB/s

Node Configuration

Ouster Driver -> Analyser (No Inter-process Communication) Both nodes are launched in different component_containers, resulting in different process IDs.

Both nodes were launched in diffenet component_containers and thus they will have different process id:

[INFO] [1718641672.584598416] [analyser]: Pointcloud delay:       Avg: 13.885 ms, Std: 4.394 ms,  Min: 10.207 ms, Max: 24.437 ms, Samples: 10
[INFO] [1718641672.584714708] [analyser]: Pointcloud cyclic time:         Avg: 97.191 ms, Std: 4.305 ms,  Min: 86.290 ms, Max: 101.741 ms, Samples: 10
[INFO] [1718641673.584711379] [analyser]: Pointcloud delay:       Avg: 10.535 ms, Std: 0.236 ms,  Min: 10.259 ms, Max: 11.112 ms, Samples: 10
[INFO] [1718641673.584766228] [analyser]: Pointcloud cyclic time:         Avg: 100.011 ms, Std: 0.407 ms,  Min: 99.310 ms, Max: 100.725 ms, Samples: 10
[INFO] [1718641674.585194970] [analyser]: Pointcloud delay:       Avg: 10.712 ms, Std: 0.355 ms,  Min: 10.313 ms, Max: 11.509 ms, Samples: 10
[INFO] [1718641674.585246947] [analyser]: Pointcloud cyclic time:         Avg: 100.048 ms, Std: 0.498 ms,  Min: 99.436 ms, Max: 100.875 ms, Samples: 10
[INFO] [1718641675.584868684] [analyser]: Pointcloud delay:       Avg: 10.570 ms, Std: 0.206 ms,  Min: 10.319 ms, Max: 10.943 ms, Samples: 10
[INFO] [1718641675.584922492] [analyser]: Pointcloud cyclic time:         Avg: 99.967 ms, Std: 0.192 ms,  Min: 99.617 ms, Max: 100.201 ms, Samples: 10
[INFO] [1718641676.584855716] [analyser]: Pointcloud delay:       Avg: 10.336 ms, Std: 0.048 ms,  Min: 10.263 ms, Max: 10.409 ms, Samples: 10
[INFO] [1718641676.584910680] [analyser]: Pointcloud cyclic time:         Avg: 99.998 ms, Std: 0.075 ms,  Min: 99.855 ms, Max: 100.141 ms, Samples: 10
[INFO] [1718641677.584789762] [analyser]: Pointcloud delay:       Avg: 10.635 ms, Std: 0.379 ms,  Min: 10.216 ms, Max: 11.453 ms, Samples: 10
[INFO] [1718641677.584843921] [analyser]: Pointcloud cyclic time:         Avg: 99.993 ms, Std: 0.556 ms,  Min: 99.211 ms, Max: 101.234 ms, Samples: 10
[INFO] [1718641678.584784001] [analyser]: Pointcloud delay:       Avg: 10.526 ms, Std: 0.175 ms,  Min: 10.245 ms, Max: 10.853 ms, Samples: 10
[INFO] [1718641678.584852571] [analyser]: Pointcloud cyclic time:         Avg: 99.999 ms, Std: 0.313 ms,  Min: 99.533 ms, Max: 100.486 ms, Samples: 10
[INFO] [1718641679.585164962] [analyser]: Pointcloud delay:       Avg: 10.515 ms, Std: 0.260 ms,  Min: 10.278 ms, Max: 11.134 ms, Samples: 10
[INFO] [1718641679.585232608] [analyser]: Pointcloud cyclic time:         Avg: 100.038 ms, Std: 0.377 ms,  Min: 99.195 ms, Max: 100.668 ms, Samples: 10
[INFO] [1718641680.585309812] [analyser]: Pointcloud delay:       Avg: 10.992 ms, Std: 0.375 ms,  Min: 10.405 ms, Max: 11.868 ms, Samples: 10
[INFO] [1718641680.585363797] [analyser]: Pointcloud cyclic time:         Avg: 100.014 ms, Std: 0.497 ms,  Min: 99.029 ms, Max: 100.881 ms, Samples: 10
Clone this wiki locally