DDS-benchmark

Benchmarking for the Performance of Multi-Robot Networking Techniques and Data Distribution Service in Dynamic Topology

This work performs tests on:

• discovery time of four DDS (fast-DDS, openDDS, RTI connext and openSplice) in different ways of networking
• discovety time of ROS2 with three DDS (fast-DDS, RTI connext and openSplice) in different ways of networking
• communication performance of DDS and ROS2

DDS installaion

introduce how to install DDS in debug mode

fast-DDS

1. install dependencies

sudo apt install cmake g++ python3-pip wget git

2. Download eProsima_Fast-DDS-2.3.0-Linux.tvz from the official website or Tsinghua netdisk

3. modify source code to get broadcast time

• edit file $(FAST_DDS_DIR)/src/fastrtps/src/cpp/rtps/builtin/discovery/participant/PDP.cpp. Find function announceParticipantState, uncomment the logInfo line (line 411)

logInfo(RTPS_PDP, "Announcing RTPSParticipant State (new change: " << new_change << ")");

4. Uncompress the file, enter the directory and edit the install.sh file to support debug mode.

• find the following lines to build fastrtps, add flags "-DCMAKE_BUILD_TYPE=Debug", "-DLOG_NO_INFO=OFF", "-DINTERNAL_DEBUG=ON" when doing cmake.

mkdir -p build/fastrtps
cd build/fastrtps
cmake ../../src/fastrtps -DCMAKE_BUILD_TYPE=Debug -DLOG_NO_INFO=OFF -DINTERNAL_DEBUG=ON
make -j8 install
cd ../..

5. install by run install.sh

sudo ./install.sh

6. install Fast-DDS-Gen tool

• Download Fast-DDS-Gen-master using git or from Tsinghua netdisk

git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git

• Download and install java jdk 16.01 from the official website or Tsinghua netdisk
• Use gradle to install the tool

sudo ./gradlew assemble

reference

OpenSplice

OpenDDS

RTI connext