QRB ROS Benchmark

qrb_ros_benchmark is a ros package that extends the functionality of opensource ROS2 Benchmark package.

Overview

qrb_ros_benchmark is a ros package that extends the functionality of opensource ros2_benchmark package. qrb_ros_benchmark supports testing the performance of ROS nodes after accelerating by the dmabuf_transport / qrb_ros_transport function. QRB ROS Transport, it leverages type adaption and intra process communication to optimize message formats and dramatically accelerate communication between participating nodes.

Build

Currently, we only support use QCLINUX to build

1. Setup environments follow this document 's Set up the cross-compile environment. part

2. Create ros_ws directory in <qirp_decompressed_workspace>/qirp-sdk/

3. Clone this repository under <qirp_decompressed_workspace>/qirp-sdk/ros_ws

   git clone https://github.com/quic-qrb-ros/lib_mem_dmabuf.git
   git clone https://github.com/quic-qrb-ros/qrb_ros_imu.git
   git clone https://github.com/quic-qrb-ros/qrb_ros_transport.git
   git clone https://github.com/quic-qrb-ros/dmabuf_transport.git
   git clone https://github.com/quic-qrb-ros/qrb_ros_tensor_list_msgs.git
   git clone https://github.com/NVIDIA-ISAAC-ROS/ros2_benchmark.git
   git clone https://github.com/quic-qrb-ros/qrb_ros_benchmark.git

4. Add dependencies in ros2_benhcmark/ros2_benchmark/CMakeLists.txt

   find_package(rosbag2_compression REQUIRED)

5. Modify line 58 of the /qirp-sdk/toolchain/install_dir/sysroots/armv8-2a-qcom-linux/usr/share/rosbag2_compression_zstd/cmake/export_rosbag2_compression_zstdExport.cmake file to:

   INTERFACE_LINK_LIBRARIES "rcpputils::rcpputils;rosbag2_compression::rosbag2_compression;${_IMPORT_PREFIX}/lib/libzstd.so"

6. Build this project

   export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
   export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
   
   colcon build --merge-install --cmake-args \
     -DPython3_ROOT_DIR=${OECORE_TARGET_SYSROOT}/usr \
     -DPython3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
     -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
     -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
     -DBUILD_TESTING=OFF

7. Push to the device & Install

   cd `<qirp_decompressed_workspace>/qirp-sdk/ros_ws/install`
   tar czvf qrb_ros_benchmark.tar.gz lib share
   scp qrb_ros_benchmark.tar.gz root@[ip-addr]:/opt/
   ssh root@[ip-addr]
   (ssh) tar -zxf /opt/qrb_ros_benchmark.tar.gz -C /opt/qcom/qirp-sdk/usr/

Run

This package supports running it directly from the command with test script.

a.Run with command

1. Source this file to set up the environment on your device:

   ssh root@[ip-addr]
   (ssh) export HOME=/opt
   (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
   (ssh) export ROS_DOMAIN_ID=xx
   (ssh) source /usr/bin/ros_setup.bash

2. Use this command to run this package

   (ssh) launch_test xx/qrb_ros_imu_benchmark.py

Acceleration Performance Test

This package is based on ROS2 Benchmark, and additional support to test the QRB ROS Transport optimize message formats and accelerate communication between participating nodes.

Packages

Will update in the future.

Contributions

Thanks for your interest in contributing to qrb_ros_benchmark! Please read our Contributions Page for more information on contributing features or bug fixes. We look forward to your participation!

License

qrb_ros_benchmark is licensed under the BSD-3-clause "New" or "Revised" License.

Check out the LICENSE for more details.