We have some briefly benchmark result for your reference.
OpenSplice community v.s OpenSplice commercial
Latency test:
OpenSplice community edition + ROS2 rclcpp + rmw_opensplice_cpp :
1k array: ~273 us
4k array: ~299 us
OpenSplice commercial edition + ROS2 rclcpp + rmw_opensplice_cpp + shared memory :
1k array: ~105us
4k array: ~129us
Throughput test:
Throughput can up to 1.7Gbps.
For example: a 8K array ROS message publishing / subscribing rate can up to ~25200 hz
Notice…
- all latency and throughput tests use optimized build .
- all message array memory are pre-allocated before sending to the rmw layer.
- all test use a tuned opensplice configuration. Different configuration could have different performance.