Hi all, we released the performance_test tool: https://github.com/ApexAI/performance_test to e.g. benchmark latency, jitter, lost samples, etc. in different DDS implementations.
Currently supported benchmarking is for communication mean over:
- FastRTPS directly
- ROS 2 rmw layer (and thus any supported rmw_* implementation)
- Connext DDS Micro directly
We plan to extend it to use ROS1 comms as well.
Hope you find it useful, any feedaback is more than welcome.