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Allow and track multiple publisher to same topic #55

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@eliasdc eliasdc commented Aug 18, 2020

This PR adds the ability to have nodes publishing to the same topic to the benchmark application.

This adds a node_name attribute to the header message to keep track of the source of the message. A tracking number is saved for each unique node_name. This fixes an issue where the tracking_number_counter received the same number multiple times and the calculation of the stats failed because of it.

Size and frequency is saved in a Stat object to allow different sizes and frequencies with multiple publishers.

@eliasdc eliasdc requested a review from alsora as a code owner August 18, 2020 16:51
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Thank you for your contribution.
I like the new feature, but I have some doubts about the implementation.

performances/performance_test/src/ros2/tracker.cpp Outdated Show resolved Hide resolved
performances/performance_test/src/ros2/tracker.cpp Outdated Show resolved Hide resolved
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alsora commented Aug 27, 2020

@eliasdc I want to make sure that the application performance are not affected by the change, should be able to get results tomorrow.

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alsora commented Aug 28, 2020

I compared your branch and master on a RaspberryPi 4 using the 20 nodes topology "montblanc".
master CPU usage is steady at 8.3%, while your branch CPU usage is steady at 11%.

I prefer to not merge the change as it is.
Next week will look more into the PR and see if we can optimize it somehow.

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