From 926e321e5de059533a188c587d264fefd7ff991d Mon Sep 17 00:00:00 2001 From: Haru-T Date: Fri, 24 Jun 2022 16:11:08 +0900 Subject: [PATCH 1/4] impelment ROS2 echo node for string --- ros2/src/echo_string/CMakeLists.txt | 47 ++++++++++++++++++++++++++ ros2/src/echo_string/package.xml | 21 ++++++++++++ ros2/src/echo_string/src/echo_node.cpp | 36 ++++++++++++++++++++ 3 files changed, 104 insertions(+) create mode 100644 ros2/src/echo_string/CMakeLists.txt create mode 100644 ros2/src/echo_string/package.xml create mode 100644 ros2/src/echo_string/src/echo_node.cpp diff --git a/ros2/src/echo_string/CMakeLists.txt b/ros2/src/echo_string/CMakeLists.txt new file mode 100644 index 0000000..cf5e670 --- /dev/null +++ b/ros2/src/echo_string/CMakeLists.txt @@ -0,0 +1,47 @@ +cmake_minimum_required(VERSION 3.5) +project(echo_string) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +add_executable(echo_node src/echo_node.cpp) +ament_target_dependencies(echo_node rclcpp std_msgs) + +target_include_directories(echo_node PUBLIC + $ + $) + +install(TARGETS echo_node + DESTINATION lib/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/ros2/src/echo_string/package.xml b/ros2/src/echo_string/package.xml new file mode 100644 index 0000000..406b9c3 --- /dev/null +++ b/ros2/src/echo_string/package.xml @@ -0,0 +1,21 @@ + + + + echo_string + 0.0.0 + TODO: Package description + Haru-T + TODO: License declaration + + ament_cmake + rclcpp + std_msgs + rclcpp + std_msgs + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/ros2/src/echo_string/src/echo_node.cpp b/ros2/src/echo_string/src/echo_node.cpp new file mode 100644 index 0000000..e07544b --- /dev/null +++ b/ros2/src/echo_string/src/echo_node.cpp @@ -0,0 +1,36 @@ +#include + +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/string.hpp" +using std::placeholders::_1; + +class EchoServer : public rclcpp::Node +{ +public: + EchoServer() + : Node("echo_ros2") + { + RCLCPP_INFO(this->get_logger(), "eval on echo start"); + publisher_ = this->create_publisher("to_linux", 10); + subscriber_ = this->create_subscription( + "to_stm", rclcpp::QoS(10).best_effort(), + std::bind(&EchoServer::topic_callback, this, _1)); + } + +private: + void topic_callback(const std_msgs::msg::String::SharedPtr message) + { + publisher_->publish(*message); + } + + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Subscription::SharedPtr subscriber_; +}; + +int main(int argc, char *argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} From e86e8cd5d3e3dbbe809560da87706a04001c006d Mon Sep 17 00:00:00 2001 From: Haru-T Date: Fri, 24 Jun 2022 16:27:22 +0900 Subject: [PATCH 2/4] implement app for mros2-posix and evaluate --- .gitmodules | 3 + README.md | 1 + mros2-posix | 1 + results/v0.2.0_mros2-posix/README.md | 17 + .../mros2-posix_mros2-posix/string16_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_mros2-posix/string16_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_mros2-posix/string1_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_mros2-posix/string1_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_mros2-posix/string2_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_mros2-posix/string2_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_mros2-posix/string32_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_mros2-posix/string32_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_mros2-posix/string4_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_mros2-posix/string4_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_mros2-posix/string64_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_mros2-posix/string64_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_mros2-posix/string8_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_mros2-posix/string8_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_ros2/string16_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_ros2/string16_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_ros2/string1_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_ros2/string1_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_ros2/string2_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_ros2/string2_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_ros2/string32_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_ros2/string32_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_ros2/string4_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_ros2/string4_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_ros2/string64_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_ros2/string64_sub.csv | 1000 ++++++++++++++++ .../mros2-posix_ros2/string8_pub.csv | 1001 +++++++++++++++++ .../mros2-posix_ros2/string8_sub.csv | 1000 ++++++++++++++++ .../ros2_mros2-posix/string16_pub.csv | 1001 +++++++++++++++++ .../ros2_mros2-posix/string16_sub.csv | 1000 ++++++++++++++++ .../ros2_mros2-posix/string1_pub.csv | 1001 +++++++++++++++++ .../ros2_mros2-posix/string1_sub.csv | 1000 ++++++++++++++++ .../ros2_mros2-posix/string2_pub.csv | 1001 +++++++++++++++++ .../ros2_mros2-posix/string2_sub.csv | 1000 ++++++++++++++++ .../ros2_mros2-posix/string32_pub.csv | 1001 +++++++++++++++++ .../ros2_mros2-posix/string32_sub.csv | 1000 ++++++++++++++++ .../ros2_mros2-posix/string4_pub.csv | 1001 +++++++++++++++++ .../ros2_mros2-posix/string4_sub.csv | 1000 ++++++++++++++++ .../ros2_mros2-posix/string64_pub.csv | 1001 +++++++++++++++++ .../ros2_mros2-posix/string64_sub.csv | 1000 ++++++++++++++++ .../ros2_mros2-posix/string8_pub.csv | 1001 +++++++++++++++++ .../ros2_mros2-posix/string8_sub.csv | 1000 ++++++++++++++++ .../ros2_ros2/string16_pub.csv | 1001 +++++++++++++++++ .../ros2_ros2/string16_sub.csv | 1000 ++++++++++++++++ .../ros2_ros2/string1_pub.csv | 1001 +++++++++++++++++ .../ros2_ros2/string1_sub.csv | 1000 ++++++++++++++++ .../ros2_ros2/string2_pub.csv | 1001 +++++++++++++++++ .../ros2_ros2/string2_sub.csv | 1000 ++++++++++++++++ .../ros2_ros2/string32_pub.csv | 1001 +++++++++++++++++ .../ros2_ros2/string32_sub.csv | 1000 ++++++++++++++++ .../ros2_ros2/string4_pub.csv | 1001 +++++++++++++++++ .../ros2_ros2/string4_sub.csv | 1000 ++++++++++++++++ .../ros2_ros2/string64_pub.csv | 1001 +++++++++++++++++ .../ros2_ros2/string64_sub.csv | 1000 ++++++++++++++++ .../ros2_ros2/string8_pub.csv | 1001 +++++++++++++++++ .../ros2_ros2/string8_sub.csv | 1000 ++++++++++++++++ results/v0.2.0_mros2-posix/stats.csv | 29 + 61 files changed, 56079 insertions(+) create mode 160000 mros2-posix create mode 100644 results/v0.2.0_mros2-posix/README.md create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string16_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string16_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string1_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string1_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string2_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string2_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string32_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string32_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string4_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string4_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string64_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string64_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string8_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string8_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string16_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string16_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string1_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string1_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string2_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string2_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string32_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string32_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string4_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string4_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string64_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string64_sub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string8_pub.csv create mode 100644 results/v0.2.0_mros2-posix/mros2-posix_ros2/string8_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string16_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string16_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string1_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string1_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string2_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string2_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string32_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string32_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string4_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string4_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string64_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string64_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string8_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_mros2-posix/string8_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string16_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string16_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string1_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string1_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string2_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string2_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string32_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string32_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string4_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string4_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string64_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string64_sub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string8_pub.csv create mode 100644 results/v0.2.0_mros2-posix/ros2_ros2/string8_sub.csv create mode 100644 results/v0.2.0_mros2-posix/stats.csv diff --git a/.gitmodules b/.gitmodules index 17449c8..ac7778c 100644 --- a/.gitmodules +++ b/.gitmodules @@ -10,3 +10,6 @@ path = micro-ros-stm32_embeddedrtps/micro-ros_embeddedrtps/micro_ros_stm32cubemx_utils url = https://github.com/mROS-base/micro_ros_stm32cubemx_utils branch = galactic +[submodule "mros2-posix"] + path = mros2-posix + url = git@github.com:mROS-base/mros2-posix.git diff --git a/README.md b/README.md index fa9dbf2..9ddc71c 100644 --- a/README.md +++ b/README.md @@ -10,3 +10,4 @@ Quantitative evaluation of communication performance | micro-ROS with embeddedRTPS | micro-ros-stm32_embeddedrtps/ | uros-rtps/ | | mROS 2 with TOPPERS/ASP3 | mros2-asp3-f767zi/ | mros2-asp3/ | | mROS 2 with Mbed OS | mros2-mbed/ | mros2-mbed/ | +| POSIX-compatible mROS 2 | mros2-posix/ | v0.2.0_mros2-posix/ | diff --git a/mros2-posix b/mros2-posix new file mode 160000 index 0000000..33d1691 --- /dev/null +++ b/mros2-posix @@ -0,0 +1 @@ +Subproject commit 33d1691926471c27f9ca18016c19c33c0e716cf5 diff --git a/results/v0.2.0_mros2-posix/README.md b/results/v0.2.0_mros2-posix/README.md new file mode 100644 index 0000000..e3af91e --- /dev/null +++ b/results/v0.2.0_mros2-posix/README.md @@ -0,0 +1,17 @@ +# v0.2.0_mros2-posix + +## Experiment Conditions + +- Both pub/sub node and echo node were run on Ubuntu 20.04.4 on Raspberry Pi 4 Model B (4GB RAM) +- Machines were connected via Ethernet cables and a router (WSR-5400AX6S/DMB, Buffalo Inc.) + +## Directories names + +`-` + +## Stats + +See: [stats.csv](./stats.csv) +```csv +-/,,,, +``` diff --git a/results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string16_pub.csv b/results/v0.2.0_mros2-posix/mros2-posix_mros2-posix/string16_pub.csv new file mode 100644 index 0000000..1ee1926 --- /dev/null +++ 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+ros2_mros2-posix/4,735285,1073497,637655,44644.7864923138 +ros2_ros2/4,797669,1191434,725309,44044.7955312252 +mros2-posix_mros2-posix/8,608333,725756,566572,20895.5464066385 +mros2-posix_ros2/8,698702,1259359,632790,37816.5749698214 +ros2_mros2-posix/8,722168,1413921,634758,34807.5201230521 +ros2_ros2/8,802316,1217416,718532,37851.6252823824 +mros2-posix_mros2-posix/16,598953,845458,424609,33657.2633426217 +mros2-posix_ros2/16,680585,1217249,620773,35530.5181838968 +ros2_mros2-posix/16,761959,1106127,670739,42006.7557896037 +ros2_ros2/16,785973,1183991,711365,45842.797979741 +mros2-posix_mros2-posix/32,603399,776457,554181,22050.5255572775 +mros2-posix_ros2/32,710314,1262378,626643,33667.1732043355 +ros2_mros2-posix/32,717946,1076627,652499,30387.2223317963 +ros2_ros2/32,819887,1182750,725439,37847.7540016702 +mros2-posix_mros2-posix/64,618228,784328,561867,25276.7715743042 +mros2-posix_ros2/64,695717,1220953,628365,38487.1422605969 +ros2_mros2-posix/64,724514,1101423,654943,37149.0459050571 +ros2_ros2/64,814986,1241102,720069,48084.692651813 From 25949ca05f259dd90840e8f82fa978d152fc79b4 Mon Sep 17 00:00:00 2001 From: Haru-T Date: Fri, 24 Jun 2022 16:45:57 +0900 Subject: [PATCH 3/4] specify submodule `mros2-posix` version --- .gitmodules | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.gitmodules b/.gitmodules index ac7778c..8f71438 100644 --- a/.gitmodules +++ b/.gitmodules @@ -12,4 +12,5 @@ branch = galactic [submodule "mros2-posix"] path = mros2-posix - url = git@github.com:mROS-base/mros2-posix.git + url = git@github.com:mROS-base/mros2-posix + branch = eval/v0.1.0 From 6cb34101003a74179c36c572e24a630a5c615232 Mon Sep 17 00:00:00 2001 From: Haru-T Date: Fri, 24 Jun 2022 18:26:36 +0900 Subject: [PATCH 4/4] update .gitmodules to use HTTPS instead of SSH Co-authored-by: takasehideki --- .gitmodules | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitmodules b/.gitmodules index 8f71438..3f53bf0 100644 --- a/.gitmodules +++ b/.gitmodules @@ -12,5 +12,5 @@ branch = galactic [submodule "mros2-posix"] path = mros2-posix - url = git@github.com:mROS-base/mros2-posix + url = https://github.com/mROS-base/mros2-posix branch = eval/v0.1.0