navrobot/ros_shared_memory_interface

Provides a transport layer for transmitting ROS messages over shared memory.

Introduction

This library provides a shared-memory-based transport layer with an API similar to ROS topic publishers and subscribres.

Installation in a Test workspace

Create a test ROS Catkin workspace:

$ source /opt/ros/indigo/setup.bash
$ mkdir -p ~/rsmc_workspace/src
$ cd ~/rsmc_workspace/src
$ catkin_init_workspace
$ cd ..
$ catkin_make
$ source devel/setup.bash

Edit your ~/.bashrc and add the following line:

source $HOME/rsmc_workspace/devel/setup.bash

Add this repository to the test workspace:

$ cd ~/rsmc_workspace/src
$ git clone [this repo]
$ cd ros_shared_memory_interface
$ git checkout feature/catkin
$ cd ~/rsmsc_workspace
$ rm -rf build devel
$ catkin_make

Basic Test

To run a basic test:

$ roscore
$ rosrun shared_memory_interface shared_memory_manager
$ rosrun shared_memory_interface_tutorials tutorial_ros_talker
$ rosrun shared_memory_interface_tutorials tutorial_ros_listener

Round Trip Time Benchmark

To run a basic benchmark:

$ roscore
$ rosrun shared_memory_interface shared_memory_manager
$ rosrun shared_memory_interface_tutorials tutorial_rtt_slave
$ rosrun shared_memory_interface_tutorials tutorial_rtt_master

Results on a Lenovo T430 Laptop with an Intel(R) Core(TM) i7-3520M CPU @ 2.90GHz, Ubtuntu 14.04, and 3.13.0-53-generic 64-bit kernel:

[ INFO] [1432613206.576842765]: RTT Benchmark statistics:
 - Num samples: 10000
 - Size samples: 1
 - Average (us): 5.8537
 - Standard deviation: 4.53723
 - Min (us): 4.151
 - Max (us): 272.118

Results from a custom PC with an Intel(R) Core(TM) i7-5820K CPU @ 3.30GHz, Ubuntu 14.04, and 3.16.0-38-generic 64-bit kernel:

[ INFO] [1432614391.493655951]: RTT Benchmark statistics:
 - Num samples: 10000
 - Size samples: 1
 - Average (us): 7.62734
 - Standard deviation: 4.42252
 - Min (us): 3.701
 - Max (us): 78.99