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Robotic simulators benchmark

The goal of this repository is to provide a common set of scenarios/robots/sensors such that they are all simulated in different mobile robot simulators for CPU-usage benchmarking.

Requisites

  • Install:
    • MVSim: sudo apt-get install ros-$ROS_DISTRO-mvsim
    • Gazebo: sudo apt-get install ros-$ROS_DISTRO-gazebo-ros
    • Webots ROS2 pkg sudo apt-get install ros-$ROS_DISTRO-webots-ros2

Python packages:

sudo pip install transformations    # or local to the user, venv, etc.

Build

Clone this repo in a ROS 2 workspace directory as usual, e.g. ~/ros2_ws/src/ then build with colcon:

colcon build --symlink-install && source install/setup.bash

Run benchmark 1

Conditions

  • Many robots (N=1 to 25), simple empty square room.
  • Physics: T=10 ms (Limit here was Webots; Gazebo and MVSim can run at T=1 ms).
  • ROS Odom: 100 Hz
  • ROS publish joint_state: 30 Hz (not used here)
  • Lidar: 200 rays, 360 deg, range 1.0 to 5.0 m. Sensor rate: 20 Hz. Published to ROS.

Gazebo

Individual run test:

BENCHMARK_GUI=False BENCHMARK_NUM_ROBOTS=10  ros2 launch small_robot_gazebo multi_small_robot.launch.py

Complete benchmark:

run_benchmark1_gazebo.sh

Webots

Individual run test:

BENCHMARK_NUM_ROBOTS=10 ros2 launch benchmark_webots multi_robot.launch.py

(No option to disable the GUI for Webots)

Complete benchmark:

run_benchmark1_webots.sh

MVSim

Individual run test:

BENCHMARK_GUI=False BENCHMARK_NUM_ROBOTS=10  ros2 launch small_robot_gazebo multi_small_robot.launch.py

Complete benchmark:

run_benchmark1_mvsim.sh

Details

To rebuild the robots .urdf, edit the "foreach" in this CMakeList and then the for loop in this launch.