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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
Checkout URI | https://github.com/robotperf/benchmarks.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-07-10 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
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 via Wireguard.
Additional Links
No additional links.
Maintainers
- Alejandra Martínez Fariña
Authors
- Alejandra Martínez Fariña
n5_intra_network_vpn
Network computational graph composed by two nodes.
ID
n5
Description
A simple network computational graph composed by two nodes. Used to demonstrate a simple ping-pong for intra-network communication via Wireguard.
Reproduction Steps
Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/network/n5_intra_network_vpn and review the launch files to reproduce this package.
# 1) Prior to launching the node, the VPN must be configured and enabled from both sides (client and server).
# Make sure the firewall is not blocking the communication:
# 1.a) Option 1: disable the firewall
sudo ufw disable
# 1.b) Option 2: specific configuration of the firewall. For example, to allow traffic in computer 1 (10.0.0.1) towards computer 2 (10.0.0.2):
sudo ufw allow from 10.0.0.2
sudo ufw allow to 10.0.0.2
# 2) Besides, CycloneDDS must be properly configured:
# 2.1) Create cycloneDDS.xml file and dump the following content and replacing the address by those VPN addresses of the computers involved:
<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain id="any">
<Compatibility><ManySocketsMode>many</ManySocketsMode></Compatibility>
<!-- For CycloneDDS in ROS Galactic -->
<!-- <General><NetworkInterfaceAddress>enp1s0</NetworkInterfaceAddress></General> -->
<!-- For CycloneDDS in ROS Humble or Rolling -->
<General><Interfaces><NetworkInterface name="wg0"/></Interfaces></General>
<Discovery>
<Peers><Peer address="10.0.0.1"/><Peer address="10.0.0.2"/></Peers>
<ParticipantIndex>auto</ParticipantIndex>
</Discovery>
</Domain>
</CycloneDDS>
# 2.2) Configure ROS to use CycloneDDS as middleware
export CYCLONEDDS_URI=file://$PWD/cyclonedds.xml
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# 3) Finally, compile and launch
colcon build --merge-install
source install/local_setup.bash
ros2 launch n5_intra_network_vpn trace_n5_intra_network_vpn_server.launch.py # Launch server
ros2 launch n5_intra_network_vpn trace_n5_intra_network_vpn_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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