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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches. |
| Checkout URI | https://github.com/robotperf/benchmarks.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-07-10 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A simple network computational graph composed by two nodes. Used to demonstrate a simple ping-pong for intra-network communication.
Additional Links
No additional links.
Maintainers
- Alejandra Martínez Fariña
Authors
- Alejandra Martínez Fariña
n4_intra_network_security
Network computational graph composed by two nodes.
ID
n4
Description
A simple network computational graph composed by two nodes. Used to demonstrate a simple ping-pong for intra-network communication with ros2 security enabled.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/network/n4_intra_network_security and review the launch files to reproduce this package.
Prior to launching the node, security must be enabled from both sides (client and server):
# Create keystore from one single machine (and then copy my_keystore folder into the other machine)
cd my_workspace
source /opt/ros/humble/setup.bash
ros2 security create_keystore my_keystore
ros2 security create_enclave my_keystore /n4/loopback_server
ros2 security create_enclave my_keystore /n4/loopback_client
# From each side: set up environment variables and run server / client
colcon build --merge-install
source install/local_setup.bash
export ROS_SECURITY_KEYSTORE=/path/to/my_keystore
export ROS_SECURITY_ENABLE=true
export ROS_SECURITY_STRATEGY=Enforce
ros2 launch n4_intra_network_security trace_n4_intra_network_security_server.launch.py # Launch server
ros2 launch n4_intra_network_security trace_n4_intra_network_security_client.launch.py # Launch client
Results
| Type | Hardware | Metric | Value | Category | Timestamp | Note | Data Source |
|---|---|---|---|---|---|---|---|
| :white_circle: | Intel i5-8250U <-> Intel i5-13600K | latency | 0.4243 | workstation - workstation | 31-10-2023 | median 0.4243 ms, mean 0.4307 ms, 1000000 samples, 0.00 % lost messages, Fast DDS | simulation |
| :white_circle: | Intel i5-13600K <-> Intel Agilex® 7 | latency | 0.4457 | workstation - embedded | 31-10-2023 | median 0.4457 ms, mean 0.4534 ms, 1000000 samples, 0.00 % lost messages, Fast DDS | simulation |
| :white_circle: | Intel i5-13600K <-> Intel Agilex® 7 | latency | 0.4039 | workstation - embedded | 31-10-2023 | median 0.4039 ms, mean 0.4095 ms, 1000000 samples, 0.00 % lost messages, Cyclone DDS | simulation |
| :white_circle: | Intel i5-13600K <-> Intel Agilex® 7 (ROBOTCORE® ROS 2) | latency | 0.0285 | workstation - embedded | 31-10-2023 | median 0.0285 ms, mean 0.1028 ms, 1000000 samples, 0.00 % lost messages, Cyclone DDS | simulation |
| :white_circle: | Intel i5-13600K <-> Intel Agilex® 7 (ROBOTCORE® ROS 2) <-> HPS | latency | 0.0411 | workstation - embedded | 31-10-2023 | median 0.0411 ms, mean 0.1035 ms, 1000000 samples, 0.00 % lost messages, Cyclone DDS | simulation |
| :white_circle: | Intel Agilex® 7 (ROBOTCORE® ROS 2) <-> Intel Agilex® 7 (ROBOTCORE® ROS 2) | latency | 0.0049 | embedded - embedded | 31-10-2023 | median 0.0049 ms, mean 0.0056 ms, 1000000 samples, 0.00 % lost messages, Cyclone DDS | simulation |
| :white_circle: | Intel i5-13600K <-> Intel i5-8250U | latency | 0.3797 | workstation - workstation | 07-11-2023 | median 0.3797 ms, mean 0.4721 ms, 1000000 samples, 0.00 % lost messages, Ecal Dynamic DDS | simulation |
| :white_circle: | Intel i5-8250U <-> Intel i5-13600K | latency | 0.3661 | workstation - workstation | 07-11-2023 | median 0.3661 ms, mean 0.3767 ms, 1000000 samples, 0.00 % lost messages, Ecal Dynamic DDS | simulation |
| :white_circle: | Intel i7-8700K <-> AMD Ryzen 5 PRO 4650G | latency | 0.5469 | workstation - workstation | 07-11-2023 | median 0.5469 ms, mean 0.5465 ms, 780061 samples, 0.00 % lost messages, Connext DDS | simulation |
| :white_circle: | AMD Ryzen 5 PRO 4650G <-> Intel i7-8700K | latency | 1.1165 | workstation - workstation | 07-11-2023 | median 1.1165 ms, mean 1.0618 ms, 1000000 samples, 0.00 % lost messages, Connext DDS | simulation |
| :white_circle: | Intel i7-8700K <-> AMD Ryzen 5 PRO 4650G | latency | 0.3312 | workstation - workstation | 07-11-2023 | median 0.3312 ms, mean 0.3390 ms, 780061 samples, 0.00 % lost messages, Fast DDS | simulation |
| :white_circle: | AMD Ryzen 5 PRO 4650G <-> Intel i7-8700K | latency | 0.2925 | workstation - workstation | 07-11-2023 | median 0.2925 ms, mean 0.2984 ms, 1000000 samples, 0.00 % lost messages, Fast DDS | simulation |
| :white_circle: | Intel i7-8700K <-> AMD Ryzen 5 PRO 4650G | latency | 0.3219 | workstation - workstation | 07-11-2023 | median 0.3219 ms, mean 0.3283 ms, 780061 samples, 0.00 % lost messages, Cyclone DDS | simulation |
| :white_circle: | AMD Ryzen 5 PRO 4650G <-> Intel i7-8700K | latency | 0.3009 | workstation - workstation | 07-11-2023 | median 0.3009 ms, mean 0.3121 ms, 1000000 samples, 0.00 % lost messages, Fast DDS | simulation |
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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