rclcpp_max_consumption

Project with two dockers:

1. A docker that creates a simple process (simple process docker) in ros2 that consumes a lot of CPU. This process can be loaded as a single process as many times as requested and can also be loaded as a rclcpp_component.
2. A docker that does the same but using stella_vslam repo (stella_vslam components docker) to test the performance of multiple stella_vslam processes/components running at the same time.

Installation simple process docker

Build dockers using: ./component_docker/build_docker.sh

Execution simple process docker

Execute multiple separated processes

NUM_OF_PROCESSES can be any number, the bash file will launch as many processes as specified. ./component_docker/docker/run_processes.sh NUM_OF_PROCESSES

Execute multiple processes as ros2 components

NUM_OF_COMPONENTS can be any number, the bash file will launch as many components as specified. ./component_docker/docker/run_components.sh NUM_OF_COMPONENTS

Installation stella_vslam components docker

Clone the submodules using: git submodule update --recursive -i

Go to folder component_stella_docker and build dockers using: ./build_stella_docker.sh ./build_stella_rosbag.sh

Download rosbag euroc from: url

Install rosbags python package to transform Rosbag of ROS1 to ROS2 using pip install rosbags

Transform ROS1 rosbag to ROS2 rosbag using python rosbags-convert like: rosbags-convert path_to_rosabg/EuRoC/MH_04_difficult.bag ./MH_04_difficul

Save the converted rosbag folder into ./component_stella_docker/inputs and modify bash file start_stella_vslam-rosbag.sh with your rosbag folder name.

Execution stella_vslam components docker

Execute multiple stella_vslam_ros processes

NUM_OF_PROCESSES can be any number, the bash file will launch as many processes as specified. ./component_stella_docker/docker/run_processes.sh NUM_OF_PROCESSES

Execute multiple processes as ros2 components

NUM_OF_COMPONENTS can be any number, the bash file will launch as many components as specified. ./component_stella_docker/docker/run_components.sh NUM_OF_COMPONENTS

Going inside the docker in /ros2_ws/out.txt there's the console output where the frequency in which an image enters to the callback.

htop screenshots obtained

10 simple high cpu ros2 nodes (separated processes)

10 simple high cpu ros2 components

10 stella_vslam_ros nodes (separated processes) euroc dataser MH_01_easy

10 stella_vslam_ros components euroc dataser MH_01_easy

Imgs subs callback frequency of stella_vslam_ros nodes (executing 10 at the same time)

Imgs subs callback frequency of stella_vslam_ros COMPONENTS (executing 10 at the same time)