From 28782e28f4b952b71e5c9c51e2fa77cb0736d655 Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Wed, 31 Jul 2024 22:53:33 +0300 Subject: [PATCH] Added documentations for scripts and made the configs for rmw_zenoh enabled --- docs/how_to_run.md | 86 ++++++++++++++++++ docs/pictures/box_plot_example.png | Bin 0 -> 13780 bytes .../rmw_zenoh/config_rmw_zenoh.sh | 6 +- 3 files changed, 89 insertions(+), 3 deletions(-) create mode 100644 docs/pictures/box_plot_example.png diff --git a/docs/how_to_run.md b/docs/how_to_run.md index 2e894d6..8d65d0e 100644 --- a/docs/how_to_run.md +++ b/docs/how_to_run.md @@ -1,3 +1,89 @@ +## Run All Benchmarks +If you haven't taken a look at [How To Install](how_to_install.md) section, please firstly start with [How To Install](how_to_install.md) Because it's assumed that you applied [How To Install](how_to_install.md) section in this section. + +To run all benchmarks, just select your middleware implementation and go ahaed with `run_all_benchmarks.sh` bash script. This command initially will run the script you chose. In this example, it's used the default config scripts which the necessary middleware configuration is applied. This property serves the functionality for the users to apply some custom configurations freely. + +```shell +# go to workspace this repository is built +cd ws +source /opt/ros/rolling/setup.sh +source install/setup.sh +# select your middleware +export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp +sh src/moveit_middleware_benchmark/scripts/run_all_benchmarks.sh -i ./src/moveit_middleware_benchmark/middleware_configurations/rmw_cyclonedds/config_rmw_cyclonedds.sh -d /benchmark_results -m rmw_cyclonedds_cpp +``` + +Let's explain all operations at `run_all_benchmarks.sh`. + +#### selection of initial script +``` +-i ./src/moveit_middleware_benchmark/middleware_configurations/rmw_cyclonedds/config_rmw_cyclonedds.sh +``` + +This argument is for selecting the initial scripts to be run. In this repository, These initial scripts is used for configuring middleware so that middleware is used more effectively. For example, you can use the initial script to configure TCP settings for rmw_zenoh like below. + +```shell +echo "The configurations for rmw_zenoh_cpp is started!" +sudo sysctl -w "net.ipv4.tcp_rmem=4096 4096 4096" +sudo sysctl -w "net.ipv4.tcp_wmem=4096 4096 4096" +sudo sysctl -w "net.ipv4.tcp_mem=4096 4096 4096" +echo "The configurations for rmw_zenoh_cpp is finished!" +``` + +#### directory selection to save benchmark results +``` +-d /benchmark_results +``` + +This argument indicates where the benchmark results are saved. For scenario_perception_benchmark and scenario_basic_service_client, the results of these scenarios are written in the shape of the below directory tree. It should be added that `run_all_benchmarks.sh` script uses json format to save the benchmark results. + +``` +benchmark_results/ +├── scenario_basic_service_client +│   ├── rmw_cyclonedds_cpp.json +│   ├── rmw_fastrtps_cpp.json +│   └── rmw_zenoh_cpp.json +└── scenario_perception_pipeline + ├── rmw_cyclonedds_cpp.json + ├── rmw_fastrtps_cpp.json + └── rmw_zenoh_cpp.json +``` + +#### middleware selection +``` +-m rmw_cyclonedds_cpp +``` + +This argument is important for both saving the benchmark results correctly and run `export RMW_IMPLEMENTATION=...` command correctly. + +## Plot Visualization of Benchmark Results + +After running `run_all_benchmarks.sh`, you can also visualize the box plots of benchmark results. Suppose that you have some benchmark results stored in below directory and the directory named `benchmark_results` is located in `ws` directory which this repository is built. + + +``` +benchmark_results/ +├── scenario_basic_service_client +│   ├── rmw_cyclonedds_cpp.json +│   ├── rmw_fastrtps_cpp.json +│   └── rmw_zenoh_cpp.json +└── scenario_perception_pipeline + ├── rmw_cyclonedds_cpp.json + ├── rmw_fastrtps_cpp.json + └── rmw_zenoh_cpp.json +``` + +Just give the directory of benchmark results as argument and then visualize the benchmark results in plot. +```shell +cd ws +python3 src/moveit_middleware_benchmark/scripts/box_plot_visualizer.py benchmark_results + +``` + +**NOTE THAT THE BELOW PICTURE DOESN'T PRESENT REAL RESULTS. IT'S JUST FOR SHOWCASE** + +![](./pictures/box_plot_example.png) + ## Scenarios ### [Perception Pipeline Benchmark](scenarios/perception_pipeline_benchmark.md) diff --git a/docs/pictures/box_plot_example.png b/docs/pictures/box_plot_example.png new file mode 100644 index 0000000000000000000000000000000000000000..eaa3808761dad9838a1bcf19356c4a21a5970dae GIT binary patch literal 13780 zcmd^mXH*sGwrwHifNdj z_Y-OavCM}c7}{5_#7{(OS~~HUxZ_D3M|C?>N0;;VCWO*?$4l0Bj@A|zb~>BbJ6PD+ z3h|5cAKJgu+|lupgT%puHh({W-_G9bpz!kFb8(S1mwwlEAc&3U$v+H9vWXVB{!#f8 zM>VcQ47R%J2b(M|jZSUqBA)Z?&fp2(+D);_zZR6-rPJUq@*7)Qh@H~I@cO)GmrvQ; zx6ZS-wp=@AW$LHcCQvTOtVC1uZ}~;xl zEgz)qPSwtA_+!(ax@-&ee0}}{hDFob6H9%G(GTw3i>Zo~Om!Y?Vi&jXWV4wZY)*V+ zSE4)El%t-mmm_@s)eYX{?F8}pCZTgOV25l*hC!iaLz-?+JvA=w#MP@;*+p$5R&M0* zXgK`#?OV&wPakusM5W;%tpt67IQOhcnYEoSqh!|7z;mMB#P%RRe?#=ryjk(WWV3|Z zc#?!ue;k{TDGxutGDRcL*5G55^jS)_^Pt{#X}58IfhV!CA`acB`q?~XdQWv@_s2&fmUTQEwjMs+=0U$pi^oBDv#Cdwl>;b2K@(ryhb>Bd 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zBOldmYRIN!an?#@iMAv|k}%ZAVcWds^#HgZU$PRfWlDGiS3WdqXz|e=~`YMJS#^f)EWH!goj|rfCI!q2Xq(34x>Yq_3J8#Lf z=A_7qh>OkD!=y{vP2a%8gkRy976UsF0M=`sIa8yXchlDwziLqw&X+QCMd?h?mr43r z4UNwHz`iel#RT@$t2V2BAj3nx{qkSUR{YCm!@n|D`>%L=f1BOyUShD;F29i@kfVV6 PCge{lpU60N?%MwW{5Gve literal 0 HcmV?d00001 diff --git a/middleware_configurations/rmw_zenoh/config_rmw_zenoh.sh b/middleware_configurations/rmw_zenoh/config_rmw_zenoh.sh index e104f70..fa0920d 100644 --- a/middleware_configurations/rmw_zenoh/config_rmw_zenoh.sh +++ b/middleware_configurations/rmw_zenoh/config_rmw_zenoh.sh @@ -1,5 +1,5 @@ echo "The configurations for rmw_zenoh_cpp is started!" -# sudo sysctl -w "net.ipv4.tcp_rmem=4096 4096 4096" -# sudo sysctl -w "net.ipv4.tcp_wmem=4096 4096 4096" -# sudo sysctl -w "net.ipv4.tcp_mem=4096 4096 4096" +sudo sysctl -w "net.ipv4.tcp_rmem=4096 4096 4096" +sudo sysctl -w "net.ipv4.tcp_wmem=4096 4096 4096" +sudo sysctl -w "net.ipv4.tcp_mem=4096 4096 4096" echo "The configurations for rmw_zenoh_cpp is finished!"