This repo contains a ROS2 package with a simple node that creates heavy publishers
Running it extensivelty utilizes the CPU, and allows performing a comparison between different operation modes (RMW/DDS etc.)
Docker image can be built for ROS 1 (Noetic) and compared against as well
Parameters can be adjusted in the corresponding launch files
Run separate nodes:
ros2 launch yo_exp2 main.launch.py
Run composed nodes:
ros2 launch yo_exp2 composed.launch.py
(The amount of nodes can be adjusted as well)
docker build -t yo_exp1 .
docker run -it --rm --name ros1-yo-exp yo_exp1
In another terminal:
docker exec -it ros1-yo-exp bash
launch
monitor.py <executable-name> <log-file-suffix>
Executable name for main launch: comp_sub_node
Executable name for composable launch: component_container