zhenshenglee/ros2_jetson_benchmarks

The ros2 benchmarks for jetson xavier and pc.

ros2_jetson_benchmarks

amd64

os performance tunning

cpu power-saving

sudo nano /etc/default/grub
GRUB_CMDLINE_LINUX="nosmt processor.max_cstate=0 intel_idle.max_cstate=0"

sudo update-grub
sudo reboot -h now

cpu performance-mode

sudo apt-get install cpufrequtils
# to get the highest freq
sudo cpufreq-set -g performance

network-stack

64MB

sudo cpufreq-set -g performance
sudo sysctl -w net.ipv4.udp_mem="10240087380016777216"
sudo sysctl -w net.core.netdev_max_backlog="30000"
sudo sysctl -w net.core.rmem_max="67108864"
sudo sysctl -w net.core.wmem_max="67108864"
sudo sysctl -w net.core.rmem_default="67108864"
sudo sysctl -w net.core.wmem_default="67108864"

swap

sudo swapoff -a
sudo nano /etc/fstab
# comment the swap config

os realtime tunning

todo

performance test results

a handy test

the unit is ms. 1:1 pub: sub qos: besteffort + keep all + volatile + historydepth=1000

version	format	encoder	trans	dds	Array1K	Array60K	Array256K	Array1M	Array2M	Array4M
2.3.x	idl	cdr	shm	fastrtps	0.03	0.03	0.04	0.12	0.22	0.46
2.3.x	idl	cdr	zc	fastrtps	0.015	0.018	0.025	0.05	0.09	0.20
1.0.1	rosidl	none	zc	iceoryx	0.02	0.028	0.05	0.11	0.12	-
5.10.0	proto2	protobuf	shm	ecal	0.012	0.078	0.29	1.16	2.38	4.62
5.10.0	proto2	protobuf	zc	ecal	0.042	0.14	0.36	1.13	2.26	4.45
5.10.0	proto3	protobuf	shm(opt)	ecal	0.009	0.02	0.06	0.34	0.68	2.28
5.10.0	proto3	protobuf	zc(opt)	ecal	0.009	0.018	0.048	0.232	0.455	0.97
5.10.0	rosidl	none	shm	ecal	0.033	0.072	0.115	0.30	0.52	0.94
5.10.0	rosidl	none	zc	ecal	0.029	0.058	0.099	0.188	0.292	0.512
5.10.0	rosidl	none	shm(opt)	ecal	0.009	0.016	0.038	0.166	0.32	0.68
5.10.0	rosidl	none	zc(opt)	ecal	0.008	0.010	0.017	0.043	0.074	0.146

jetson-xavier

os tunning

# jetson
sudo jetson_clocks

sudo cpufreq-set -g performance
sudo sysctl -w net.ipv4.udp_mem="10240087380016777216"
sudo sysctl -w net.core.netdev_max_backlog="30000"
sudo sysctl -w net.core.rmem_max="67108864"
sudo sysctl -w net.core.wmem_max="67108864"
sudo sysctl -w net.core.rmem_default="67108864"
sudo sysctl -w net.core.wmem_default="67108864"

automatic test report

see test report for amd64

see test report for jetson-xavier