NOTE: following tests were done in Mar. 2025, which may not reflect latest status of the package.

AimRT 0.10.0-cpp Performance Test Report

Preface

AimRT’s communication layer is implemented through plugins, with official support for iceoryx, ROS2, Zenoh, Http, Grpc, Mqtt and other communication plugins, covering common edge and cloud communication scenarios. These plugins provide two common communication modes: publish-subscribe and request-response to achieve intra-machine and cross-machine multi-process communication.

Test Environment

System Environment:
- Operating System:
- CPU: 13th Gen Intel® Core™ i5-1350P
- Linux 6.1.59-rt16
Software Environment
- AimRT Version: 0.10.0

Test Items

Testing with AimRT-cpp includes the following items:

Single-machine Performance Tests
- Channel Backend Performance Tests
  - Impact of packet size on performance
  - Impact of topic count on performance
  - Impact of concurrency on performance
- Rpc Backend Performance Tests
  - Impact of packet size on performance in bench mode
  - Impact of packet size on performance in fixed_freq mode
  - Impact of concurrency on performance in bench mode
  - Impact of concurrency on performance in fixed_freq mode
Cross-machine Performance Tests
- Channel Backend Performance Tests
  - Impact of packet size on performance
  - Impact of topic count on performance
  - Impact of concurrency on performance
- Rpc Backend Performance Tests
  - Impact of packet size on performance in bench mode
  - Impact of packet size on performance in fixed_freq mode
  - Impact of concurrency on performance in bench mode
  - Impact of concurrency on performance in fixed_freq mode

Test Results

Single-machine Performance Tests (X86)

Channel Backend Performance Tests

Impact of Packet Size on Performance:

Test Purpose: Performance test of single-machine cross-process Channel backend with different packet sizes
Test Configuration:
- channel_frequency: 1 kHz
- pkg_size: 256 B ~ 64 KB (2^8 ~ 2^16, increasing by powers of 2)
- topic_number: 1
- parallel_number=1
Test Results:

Impact of Topic Count on Performance:

Test Purpose: Performance test of single-machine cross-process Channel backend with different topic counts
Test Configuration:
- channel_frequency: 1 kHz
- pkg_size: 1024 B
- topic_number: 1 ~ 10
- parallel_number=1
Test Results:

Impact of Concurrency on Performance:

Test Purpose: Performance test of single-machine cross-process Channel backend with different concurrency levels
Test Configuration:
- channel_frequency: 1 kHz
- pkg_size: 1024 B
- topic_number: 1
- parallel_number=1 ~ 10
Test Results:

Detailed Data

Rpc Backend Performance Tests

Impact of Packet Size on Performance in Bench Mode:

Test Purpose: Performance test of single-machine cross-process Rpc backend with different packet sizes in bench mode
Test Configuration:
- mode: bench
- channel_frequency: 1 kHz
- pkg_size: 256 B ~ 64 KB (2^8 ~ 2^16, increasing by powers of 2)
- paraller_number: 1
Test Results:

Impact of Packet Size on Performance in Fixed-freq Mode:

Test Purpose: Performance test of single-machine cross-process Rpc backend with different packet sizes in fixed-freq mode
Test Configuration:
- mode: fixed-freq
- channel_frequency: 1 kHz
- pkg_size: 256 B ~ 64 KB (2^8 ~ 2^16, increasing by powers of 2)
- paraller_number: 1
Test Results:

Impact of Concurrency on Performance in Bench Mode:

Test Purpose: Performance test of single-machine cross-process Rpc backend with different concurrency levels in bench mode
Test Configuration:
- mode: bench
- channel_frequency: 1 kHz
- pkg_size: 1024 B
- paraller_number: 1 ~ 10
Test Results:

Impact of Concurrency on Performance in Fixed-freq Mode:

Test Purpose: Performance test of single-machine cross-process Rpc backend with different concurrency levels in fixed-freq mode
Test Configuration:
- mode: fixed-freq
- channel_frequency: 1 kHz
- pkg_size: 1024 B
- paraller_number: 1 ~ 10
Test Results:

Detailed Data

Cross-machine Performance Tests

Channel Backend Performance Tests

Impact of Packet Size on Performance:

Test Purpose: Performance test of cross-machine Channel backend with different packet sizes
Test Configuration:
- channel_frequency: 1 kHz
- pkg_size: 256 B ~ 64 KB (2^8 ~ 2^16, increasing by powers of 2)
- topic_number: 1
- parallel_number=1
Test Results:

Impact of Topic Count on Performance:

Test Purpose: Performance test of cross-machine Channel backend with different topic counts
Test Configuration:
- channel_frequency: 1 kHz
- pkg_size: 1024 B
- topic_number: 1 ~ 10
- parallel_number=1
Test Results:

Impact of Concurrency on Performance:

Test Purpose: Performance test of cross-machine Channel backend with different concurrency levels
Test Configuration:
- channel_frequency: 1 kHz
- pkg_size: 1024 B
- topic_number: 1
- parallel_number=1 ~ 10
Test Results:

Detailed Data

Rpc Backend Performance Tests

Impact of Packet Size on Performance in Bench Mode:

Test Purpose: Performance test of cross-machine Rpc backend with different packet sizes in bench mode
Test Configuration:
- mode: bench
- channel_frequency: 1 kHz
- pkg_size: 256 B ~ 64 KB (2^8 ~ 2^16, increasing by powers of 2)
- paraller_number: 1
Test Results:

Impact of Packet Size on Performance in Fixed-freq Mode:

Test Purpose: Performance test of cross-machine Rpc backend with different packet sizes in fixed-freq mode
Test Configuration:
- mode: fixed-freq
- channel_frequency: 1 kHz
- pkg_size: 256 B ~ 64 KB (2^8 ~ 2^16, increasing by powers of 2)
- paraller_number: 1
Test Results:

Impact of Concurrency on Performance in Bench Mode:

Test Purpose: Performance test of cross-machine Rpc backend with different concurrency levels in bench mode
Test Configuration:
- mode: bench
- channel_frequency: 1 kHz
- pkg_size: 1024 B
- paraller_number: 1 ~ 10
Test Results:

Impact of Concurrency on Performance in Fixed-freq Mode:

Test Purpose: Performance test of cross-machine Rpc backend with different concurrency levels in fixed-freq mode
Test Configuration:
- mode: fixed-freq
- channel_frequency: 1 kHz
- pkg_size: 1024 B
- paraller_number: 1 ~ 10
Test Results:

Detailed Data