ROS 2 Performance issues

This repo contains a ROS2 package with a simple node that creates heavy publishers

Running it extensivelty utilizes the CPU, and allows performing a comparison between different operation modes (RMW/DDS etc.)

Comparison with ROS 1

Docker image can be built for ROS 1 (Noetic) and compared against as well

Parameters can be adjusted in the corresponding launch files

Run separate nodes:

ros2 launch yo_exp2 main.launch.py

Run composed nodes:

ros2 launch yo_exp2 composed.launch.py

(The amount of nodes can be adjusted as well)

docker build -t yo_exp1 .
docker run -it --rm --name ros1-yo-exp yo_exp1

In another terminal:

docker exec -it ros1-yo-exp bash
launch

monitor.py  <executable-name>  <log-file-suffix>

Executable name for main launch: comp_sub_node

Executable name for composable launch: component_container