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Add FastDDS and eCAL support

VictorLeerequested to merge
ZhenshengLee/performance_test:add-fastdds-ecal into master

Added works

  • eCAL support
  • FastDDS upgrade to 2.3.x
  • eCAL and FastDDS test report

version control policy

I'll try my best to make the branch of repo to rebase with the latest commit of the official one ant take good care of the conflicts.

Middleware plugins

Native plugins

Continental eCAL with raw rosidl

  • eCAL 5.10.x
  • CMake build flag: -DPERFORMANCE_TEST_ECAL_RAW_ENABLED=ON
  • Communication plugin: -c ECAL_RAW
  • The eCAL plugin is not a complete DDS implementation.
    • Some DDS-specific options (such as domain ID) do not apply.
  • Zero copy transport (--zero-copy): yes
  • Default transports:
    INTRA IPC on same machine Distributed system
    INTRA SHM Not supported by performance_test

ps:

  • eCAL::CPublisher is used.
  • rosidl datatype is used.
source /opt/ros/galactic/setup.bash
cd ~/perf_test_ws
colcon build --cmake-args -DPERFORMANCE_TEST_ECAL_RAW_ENABLED=ON
source ./install/setup.bash
mkdir experiment
# t1
./install/performance_test/lib/performance_test/perf_test -c ECAL --msg Array1k -p 0 -s 1
# t2
./install/performance_test/lib/performance_test/perf_test -c ECAL --msg Array1k -p 1 -s 0

Continental eCAL with protobuf

  • eCAL 5.10.x
  • CMake build flag: -DPERFORMANCE_TEST_ECAL_PROTO_ENABLED=ON
  • Communication plugin: -c ECAL_PROTO
  • The eCAL plugin is not a complete DDS implementation.
    • Some DDS-specific options (such as domain ID) do not apply.
  • Zero copy transport (--zero-copy): no
    • ser/deserialization cannot be avoided with protobuf
  • Default transports:
    INTRA IPC on same machine Distributed system
    INTRA SHM UDP

ps:

  • eCAL::protobuf::CPublisher is used.
  • proto2 protocol is used.
  • proto files are auto-generated by message-schemas 
source /opt/ros/galactic/setup.bash
cd ~/perf_test_ws
colcon build --cmake-args -DPERFORMANCE_TEST_ECAL_PROTO_ENABLED=ON
source ./install/setup.bash
mkdir experiment
# t1
./install/performance_test/lib/performance_test/perf_test -c ECAL_PROTO --msg Array1k -p 0 -s 1
# t2
./install/performance_test/lib/performance_test/perf_test -c ECAL_PROTO --msg Array1k -p 1 -s 0

eProsima FastRTPS

  • FastDDS 2.3.x
  • CMake build flag: -DPERFORMANCE_TEST_FASTRTPS_ENABLED=ON
  • Communication plugin: -c FastRTPS
  • Zero copy transport (--zero-copy): no
    • zero copy with datasharing is only provided by FastDDS-API
  • Docker file: Dockerfile.FastDDS
  • Default transports:
    INTRA IPC on same machine Distributed system
    INTRA SHM UDP

eProsima FastDDS

FastDDS API is uesd in this plugin, according to examples here

  • FastDDS 2.3.x
  • CMake build flag: -DPERFORMANCE_TEST_FASTDDS_ENABLED=ON
  • Communication plugin: -c FastDDS
  • Zero copy transport (--zero-copy): yes
  • Docker file: Dockerfile.FastDDS
  • Default transports:
    INTRA IPC on same machine Distributed system
    INTRA SHM UDP

ps:

  • zero-copy is only available for non-bounded msg definitions.
source /opt/ros/galactic/setup.bash
cd ~/perf_test_ws
colcon build --cmake-args -DPERFORMANCE_TEST_FASTDDS_ENABLED=ON
source ./install/setup.bash
mkdir experiment
# t1
./install/performance_test/lib/performance_test/perf_test -c FastDDS --msg Struct16 -p 0 -s 1
# t2
./install/performance_test/lib/performance_test/perf_test -c FastDDS --msg Struct16 -p 1 -s 0

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