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ros2_node_impl_ws

ros2_node_impl_ws/ is the nested workspace that contains the ROS 2 node implementations used by this repository.

Running colcon build in this directory builds the packages under src/, after which you can source install/ and launch each node with ros2 run. At the moment, all node implementations are collected in src/ros2_perf_multihost_nodes/.

Main roles of each directory:

  • src/: directory for ROS 2 packages
  • src/ros2_perf_multihost_nodes/: package containing Publisher, Subscriber, and Intermediate nodes, plus message definitions and CLI option handling
  • build/, install/, log/: workspace artifacts generated by colcon build
  • logs/: optional destination for runtime logs when --log-dir is specified

Node Overview

Publisher Node

The Publisher node sends messages to the configured topics at a fixed interval.

  • It can handle multiple topics at the same time.
  • Payload size and publish period can be configured independently for each topic.
  • If an execution time is specified, publishing stops automatically after that duration and the node shuts down.
  • If --log-dir is set, publish history and metadata are written to files.

Subscriber Node

The Subscriber node subscribes to the configured topics and records receive timestamps.

  • It can subscribe to multiple topics at the same time.
  • If an execution time is specified, the node shuts down automatically after that duration.
  • If --log-dir is set, receive history and metadata are written to files.

Intermediate Node

The Intermediate node combines Publisher and Subscriber behavior.

  • Use --topic-names-sub to specify subscribed topics.
  • Use --topic-names-pub to specify published topics.
  • It can act as subscriber-only, publisher-only, or both.
  • If the same topic name appears on both the publish and subscribe sides, the node can be used as a relay for received messages.
  • If --log-dir is set, transmit and receive history plus metadata are written to files.

Options

You can inspect the launch options for each node with --help.

Example:

ros2 run ros2_perf_multihost_nodes publisher_node --help
ros2 run ros2_perf_multihost_nodes subscriber_node --help
ros2 run ros2_perf_multihost_nodes intermediate_node --help

Main options are shown below.

Common Options for Publisher / Subscriber / Intermediate

Option Short Description Default
--node-name - Node name (required) -
--eval-time - Evaluation time in seconds 60
--log-dir - Log output directory unset
--qos-history - QoS history: KEEP_LAST / KEEP_ALL KEEP_LAST
--qos-depth - QoS depth, effective only with KEEP_LAST 1
--qos-reliability - QoS reliability: RELIABLE / BEST_EFFORT RELIABLE

These node executables receive one QoS setting per process launch. When a topology JSON file defines qos as an array for QoS sweep experiments, the future converter or runner should iterate over that array and pass one QoS case at a time to these options.

Example topology-side QoS sweep input:

{
  "qos": [
    {
      "history": "KEEP_LAST",
      "depth": 1,
      "reliability": "RELIABLE"
    },
    {
      "history": "KEEP_LAST",
      "depth": 1,
      "reliability": "BEST_EFFORT"
    },
    {
      "history": "KEEP_ALL",
      "reliability": "RELIABLE"
    }
  ],
  "hosts": []
}

The runner is expected to translate each element as follows:

JSON key Node option Note
history --qos-history KEEP_LAST or KEEP_ALL
depth --qos-depth Used only when history is KEEP_LAST
reliability --qos-reliability RELIABLE or BEST_EFFORT

For KEEP_ALL cases, depth may be omitted from the JSON because the node ignores depth when --qos-history KEEP_ALL is used.

Publisher / Subscriber

Option Short Description Default
--topic-names - Topic names (required, repeatable) -
--size -s Payload size in bytes 64 bytes
--period -p Publish period in milliseconds 100 ms

Intermediate

Option Short Description Default
--topic-names-pub - Published topic names (repeatable) -
--topic-names-sub - Subscribed topic names (repeatable) -
--size -s Payload size in bytes when topic-names-pub is specified 64 bytes when topic-names-pub is specified
--period -p Publish period in milliseconds when topic-names-pub is specified 100 ms when topic-names-pub is specified

If --log-dir is omitted, no log files or metadata files are created. Leave it unset when you only want a functional run without log collection.

Log Output

When --log-dir is set, each node creates <node_name>_log/ under that directory and writes log files plus metadata.txt there.

Basic layout:

<log_dir>/
    <node_name>_log/
        metadata.txt
        <topic_name>_log.txt

For Intermediate nodes, publish-side and subscribe-side logs use separate file names.

<log_dir>/
    <node_name>_log/
        metadata.txt
        <topic_name>_pub_log.txt
        <topic_name>_sub_log.txt

metadata.txt stores metadata such as node name, node type, topic names, payload size, and period. Each log file stores the index and timestamp of each sent or received message.

If logging is unnecessary, omit --log-dir. In that case, no log directory or metadata file is created.

Build

Example for ROS 2 Jazzy:

source /opt/ros/jazzy/setup.bash
cd ros2_node_impl_ws
colcon build --packages-select ros2_perf_multihost_nodes
source install/setup.bash

Run

Publisher example:

ros2 run ros2_perf_multihost_nodes publisher_node \
    --node-name pub1 \
    --topic-names topic1 \
    --size 64 \
    --period 100 \
    --qos-history KEEP_LAST \
    --qos-depth 1 \
    --qos-reliability RELIABLE

Subscriber example:

ros2 run ros2_perf_multihost_nodes subscriber_node \
    --node-name sub1 \
    --topic-names topic1 \
    --qos-history KEEP_LAST \
    --qos-depth 1 \
    --qos-reliability RELIABLE

Intermediate example:

ros2 run ros2_perf_multihost_nodes intermediate_node \
    --node-name relay1 \
    --topic-names-pub topic_out \
    --topic-names-sub topic_in \
    --size 64 \
    --period 100 \
    --qos-history KEEP_LAST \
    --qos-depth 1 \
    --qos-reliability RELIABLE

Add --log-dir when you want to save logs.

ros2 run ros2_perf_multihost_nodes publisher_node \
    --node-name pub1 \
    --topic-names topic1 \
    --size 64 \
    --period 100 \
    --log-dir logs

Launch

To start all three nodes (Publisher, Subscriber, and Intermediate) at once with a single command, use the launch file below. The arguments for each node are fixed to match the ros2 run examples above, without --log-dir:

ros2 launch ros2_perf_multihost_nodes all_nodes_readme.launch.py

To start a single node with configurable arguments, use the dedicated launch file for each node type:

ros2 launch ros2_perf_multihost_nodes publisher.launch.py \
    node_name:=pub1 \
    topic_names:=topic1 \
    size:=64 \
    period:=100

ros2 launch ros2_perf_multihost_nodes subscriber.launch.py \
    node_name:=sub1 \
    topic_names:=topic1

ros2 launch ros2_perf_multihost_nodes intermediate.launch.py \
    node_name:=relay1 \
    topic_names_pub:=topic_out \
    topic_names_sub:=topic_in \
    size:=64 \
    period:=100