Evaluate performance of ROS2 components with qrb_ros_benchmark

qrb_ros_benchmark is a benchmarking tool designed for evaluating the performance of ROS components on Qualcomm robotics platforms. It provides reusable components for benchmarking various message types and ROS nodes, with a focus on zero-copy transport mechanisms. qrb_ros_benchmark builds on ros2_benchmark and extends it with specialized components for benchmarking QRB ROS transport types, including:

QRB transport types (Image, IMU, PointCloud2)
DMABuf transport types (Image, PointCloud2)
Standard ROS message types

NoteFor information about the qrb_ros_benchmark pipeline flow and the topics it uses, see ros2_benchmark.

Prerequisites

You have Set up the device according to Set up the environment for running sample applications.
Prepare the benchmark scripts for evaluating your custom ROS2 application. For details, see Creating custom benchmark.

Run out-of-the-box `qrb_ros_benchmark`

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Set up the environment

Start two terminals, and run the following commands in each terminal to set up QIR SDK and ROS2 environment on the device. Value range of ROS_DOMAIN_ID: [0, 232]

ssh root@[ip-addr]

SSH Session

source /usr/share/qirp-setup.sh
export ROS_DOMAIN_ID=xx

Run your custom ROS2 application

In terminal 1, run your custom ROS2 application.

SSH Session

ros2 launch my_application.launch.py

Run your benchmark script

In terminal 2, run your benchmark script for evaluating your custom ROS2 application.

SSH Session

launch_test my_benchmark_scripts.py

The script outputs the evaluation result in your terminal.

Build and run `qrb_ros_benchmark`

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Build qrb_ros_benchmark on the host

cd <qirp_decompressed_workspace>
source setup.sh
cd qirp-samples/platform/qrb_ros_benchmark
colcon build --merge-install --cmake-args ${CMAKE_ARGS}

Push qrb_ros_benchmark to the device

cd qirp-samples/platform/qrb_ros_benchmark/install
tar czvf qrb_ros_benchmark.tar.gz include lib share
scp qrb_ros_benchmark.tar.gz root@[ip-addr]:/opt/
ssh root@[ip-addr]

SSH Session

tar --no-overwrite-dir --no-same-owner -zxf /opt/qrb_ros_benchmark.tar.gz -C /usr/ros/jazzy/

Set up the environment

Start two terminals, and run the following commands in each terminal to set up QIR SDK and ROS2 environment on the device. Value range of ROS_DOMAIN_ID: [0, 232]

ssh root@[ip-addr]

SSH Session

source /usr/share/qirp-setup.sh
export ROS_DOMAIN_ID=xx

Run your custom ROS2 application

In terminal 1, run your custom ROS2 application.

SSH Session

ros2 launch my_application.launch.py

Run your benchmark script

In terminal 2, run your benchmark scripts for evaluating your custom ROS2 application.

SSH Session

launch_test my_benchmark_scripts.py

Limitation

qrb_ros_benchmark supports the following ROS2 message types:

ROS2 standard message type
QRB transport types (Image, IMU, PointCloud2)
DMABuf transport types (Image, PointCloud2)

​Prerequisites

​Run out-of-the-box qrb_ros_benchmark

​Build and run qrb_ros_benchmark

​Limitation

Prerequisites

Run out-of-the-box `qrb_ros_benchmark`

Build and run `qrb_ros_benchmark`

Limitation