Benchmark `ros2_reduct_agent` and `rosbag2`

[AnthonyCvn]

Goal

Compare the performance of ros2_reduct_agent and rosbag2 when recording data to MCAP files using Zstd compression. Focus on CPU usage, RAM usage, and write throughput.

Dataset

autonomous-vehicle-self-driving-waymo.mcap

Tools

• ros2_reduct_agent (MCAP + Zstd)
• rosbag2 (MCAP + Zstd)
• Monitoring tools: htop, pidstat, perf, etc.

Steps

1. Replay the dataset using rosbag2 play
2. Record all topics using ros2_reduct_agent
3. Record the same topics using rosbag2 with --storage mcap and --compression-format zstd
4. Monitor system resource usage during recording:
   • CPU usage
   • RAM usage
   • Write throughput
   • Record size

Notes

• Both tools use MCAP with Zstd, so the final record size size should be identical (but validated)
• Focus is on performance differences during runtime

Metrics to compare

Metric	ros2_reduct_agent (MCAP + Zstd)	rosbag2 (MCAP + Zstd)
CPU usage (avg)
RAM usage (peak)
Write throughput
Record size