my AI:
I have seen here https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/#supported-platforms that there are two Tier1 Linux platforms supported:
Ubuntu 20.04 (Focal): amd64 and arm64
I have taken the latest snapshot of ROS2 master and built it on amd64 Ubuntu 20.04
The next steps would be to deploy it on a specially prepared Ubuntu 20.04 target: @dejan has mentioned Apex.AI has used the Ubuntu server for it and Linux RT kernel.
Then we need to define what tests do we want to run, what tools to use for the performance measurement (e.g. https://gitlab.com/ApexAI/performance_test https://github.com/irobot-ros/ros2-performance ?), how do we want to configure ROS2 middleware, and what DDS stack to pick up
I have also seen that there are https://github.com/ros2/buildfarm_perf_tests. I’m not sure who runs it, what outputs it produces, and whether any actions are taken based on the outputs. @cottsay, could you probably join RTWG call on Tue and tell us a bit about it.
Here are some links:
- ApexAI - https://gitlab.com/ApexAI/performance_test/
https://gitlab.com/ApexAI/performance_test/-/blob/master/performance_test/design/performance_test-design.md - Bosch - https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing
https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing/-/blob/master/doc/design_ros_2.md - Open Robotics - https://github.com/ros2/buildfarm_perf_tests
- iRobot - https://github.com/irobot-ros/ros2-performance