ROS2 Gateway application analysis

Repo contains scripts and instructions to generate the figures for the ROS2 paper. Everything tested with v0.13.0 in the Rover repo.

CAN to ROS latency analysis

Recording data

Start car and enable radio safety override.

Start rover-ros-gateway through run-ros-gateway script. Then:

docker exec -it --user root rover-ros-gateway bash

# in container:
apt update
apt install -y ros-jazzy-rosbag2 can-utils
su ubuntu
source install/setup.bash

Use timeout command to specify duration of recording.

timeout 60 bash -c "candump -d -e -x -l can0 & ros2 bag record --topics /rover/radio/cmd_vel"

Copy the data from the container to your filesystem. Adjust filenames to be correct.

docker cp rover-ros-gateway:/ros2_ws/candump.log .
docker cp rover-ros-gateway:/ros2_ws/rosbag2/rosbag2.mcap .

Convert logs to CSV

./latency_logs_to_csv.py --can-log candump.log --ros-log rosbag2.mcap

Generating plots

./analyze_latency.py --csv-file filtered-logs.csv --output-dir output

ROS CAN transmission jitter analysis

Start car and enable radio safety override.

Start rover-ros-gateway through run-ros-gateway script.

Disable safety override.

Log CAN data:

timeout 60 candump -d -e -x -l can0

Generating plots

./analyze_ros_jitter.py --log-file candump.log --output-dir output

Resource usage measurements

Use different launch file configurations for 1, 5, 10 nodes in the ros-gateway. Rebuild it for each.

Start the container, but keep the car off. Run a test without traffic:

./record_resource_usage.py -o 1-nodes-no-traffic

Then start the car and run the test with CAN traffic:

./record_resource_usage.py -o 1-nodes

Repeat for different launch configurations.

Run analysis:

./analyze_resource_usage.py -i 1-nodes-no-traffic/resource-usage.csv -o 1-nodes-no-traffic
./analyze_resource_usage.py -i 1-nodes/resource-usage.csv -o 1-nodes

When performed for all 6 variants, run:

./compare_resource_usage_results.py -b .

Wheel RPM measurements

Recording data

Start rover-ros-gateway through run-ros-gateway script. Then:

docker exec -it --user root rover-ros-gateway bash

# in container:
apt update
apt install -y ros-jazzy-rosbag2 can-utils
su ubuntu
source install/setup.bash

Use timeout command to specify duration of recording. During recording, move the wheels using the radio, to get values other than 0.

timeout 60 bash -c "candump -d -e -x -l can0 & ros2 bag record --topics /rover/wheel_front_left/wheel_status"

Copy the data from the container to your filesystem. Adjust filenames to be correct.

docker cp rover-ros-gateway:/ros2_ws/candump.log .
docker cp rover-ros-gateway:/ros2_ws/rosbag2/rosbag2.mcap .

Convert logs to CSV

./wheel_logs_to_csv.py --can-log candump.log --ros-log rosbag2.mcap

Generating plots

./analyze_rpm.py --csv-file filtered-logs.csv --output-dir output