start_project.md

Benchmarking for ZeroMQ library

Pre-requirements

To reproduce the tests you have to use Docker containers.

Set up project with Docker

Inside the project directory create and start a docker container:

docker run -it -v $(pwd):/zeromq_benchmarking/ --name zeromq_project ros:foxy

Note: If the container has already been created previously, you can start it using the following command:

docker start zeromq_project
docker exec -it zeromq_project /bin/bash

Requirements

Inside the container:

Install pip:

sudo apt update

sudo apt install python3-pip

Install requirements:

pip install -r zeromq_benchmarking/requirements.txt

Set up ROS2 workspace

Enter in the root folder of the project called 'zeromq_benchmarking':

cd zeromq_benchmarking

In the same terminal, you can use this doc to set up ROS workspace: Cheat Sheet RTES Lab Unimore

Note: workspace directory is 'ros2_ws'

Testing ROS2

It is necessary one terminal for each node.

Server node

In the same terminal where you are setting up ROS2 workspace:

ros2 run cpp_echo server

Client node

Open a new terminal inside the container:

docker exec -ti zeromq_project /bin/bash

Then:

cd zeromq_benchmarking/ros2_ws

source install/setup.bash

ros2 run cpp_echo client

Show result graph

Open a new terminal (not inside the container) and execute:

cd zeromq_benchmarking/ros2_ws

docker run --rm -v $(pwd):/work remuslazar/gnuplot graph.gnu

Testing ZeroMQ

It is necessary one terminal for each node.

Server node

docker exec -ti zeromq_project /bin/bash

cd zeromq_benchmarking/zeromq/pub-sub

./server.py

Client node

docker exec -ti zeromq_project /bin/bash

cd zeromq_benchmarking/zeromq/pub-sub

./client.py

Show results graph

Open a new terminal (not inside the container) and execute:

cd zeromq_benchmarking/zeromq/pub-sub/

docker run --rm -v $(pwd):/work remuslazar/gnuplot graph.gnu