ros2_tracing overhead evaluation

ros2_tracing latency overhead evaluation experiment.

This is part of the ros2_tracing paper. If you use or refer to ros2_tracing or this repository, please cite:

• C. Bédard, I. Lütkebohle, and M. Dagenais, "ros2_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2," IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6511–6518, 2022.

BibTeX:

@article{bedard2022ros2tracing,
  title={ros2\_tracing: Multipurpose Low-Overhead Framework for Real-Time Tracing of ROS 2},
  author={B{\'e}dard, Christophe and L{\"u}tkebohle, Ingo and Dagenais, Michel},
  journal={IEEE Robotics and Automation Letters},
  year={2022},
  volume={7},
  number={3},
  pages={6511--6518},
  doi={10.1109/LRA.2022.3174346}
}

Experiment

1. Set up and tune real-time system
   • (or set c_is_realtime to 0 in run_experiment.sh)
   • to build & set up a real-time kernel, see:
     • https://stackoverflow.com/a/51709420
     • https://github.com/ros-realtime/rt-kernel-docker-builder
   • increase UDP socket buffers from 25 MB (default) to 64 MB
     • by running:

     sudo sysctl -w net.core.rmem_max=67108864
     sudo sysctl -w net.core.rmem_default=67108864

     • or by adding these lines to your /etc/sysctl.conf file and then rebooting:

     net.core.rmem_max=67108864
     net.core.rmem_default=67108864

   • disable power-saving features
     • note: this assumes an Intel processor is used
     • BIOS
       • Performance > HyperThread Control: select disabled
       • Performance > C-States Control: deselect to disable
       • Performance > Intel SpeedStep: deselect to disable
       • note: the exact locations and names of these options might be different depending on your BIOS, but disabling any and all power-saving features significantly improves performance and lowers jitter
     • kernel
       • add following parameters (space-separated) to GRUB_CMDLINE_LINUX in /etc/default/grub
         • disable SMT: add nosmt
         • disbale C-states: add processor.max_cstate=0 intel_idle.max_cstate=0
       • then run:

         sudo update-grub && sudo reboot -h now

       • note: these might be redundant when setting BIOS parameters
2. Setup system to build ROS 2 and enable tracing
   • https://docs.ros.org/en/rolling/Installation/Ubuntu-Development-Setup.html
   • https://gitlab.com/ros-tracing/ros2_tracing
3. Setup code workspaces and build

   ./setup_workspace.sh

   • this creates two workspaces, one without tracing and one with tracing, and builds them in release mode
4. Run performance_test experiments using run_experiment.sh
   • modify the configuration if needed (c_* variables at the top of the file)
   • experiment data will be written to exp-YYYYMMDDTHHMMSS-ABCD

   ./run_experiment.sh

   • in general, results are better if the experiment is run right after a system reboot
   • experiment parameters are printed at the beginning and are written to experiment_params.log under the experiment directory
   • LTTng is configured and optimized for real-time applications
5. Plot results by providing name of directory containing the experiment data using plot_experiment.py
   • make sure the freqs & msgs arrays and runtime_max & runtime_ignore values match the ones defined in run_experiment.sh when running the experiment and written to exp-YYYYMMDDTHHMMSS-ABCD/experiment_params.log

   python3 plot_experiment.py exp-YYYYMMDDTHHMMSS-ABCD

   • see comments at the top of the file for dependencies
   • see other options at the top of the file to:
     • print out approximate frequencies (to confirm that the target pub/sub frequency is hit)
     • include titles in plot

Useful commands

• For running experiments on a separate system
  • Change ownership of directories/file from root to user

    sudo chown -R $USER:$USER exp-*

  • Copy experiment directories from remote to local

    scp -P $PORT -r $USER@server:/home/$USER/ros2_tracing_paper_experiment/exp-* .

References

• tuning UDP buffer size and Cyclone DDS
  • ros2/rmw_cyclonedds#346 (comment)
  • https://discourse.ros.org/t/ros2-speed/20162/21