| NOTE: following tests were done in Mar. 2025, which may not reflect latest status of the package. |
AimRT 0.10.0-py Performance Test Report
Preface
AimRT’s communication layer is implemented through plugins, with official support for communication plugins including iceoryx, ROS2, Zenoh, Http, Grpc, and Mqtt, covering common edge and cloud communication scenarios. These plugins provide two common communication modes: publish-subscribe and request-response, enabling 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 was conducted using AimRT-py with the following test 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 Objective: Performance test of single-machine cross-process Channel backend with different
packet sizesTest 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 Objective: Performance test of single-machine cross-process Channel backend with different
topic countsTest Configuration:
channel_frequency: 1 kHz
pkg_size: 1024 B
topic_number: 1 ~ 10
parallel_number=1
Test Results:
Impact of Concurrency on Performance:
Test Objective: Performance test of single-machine cross-process Channel backend with different
concurrency levelsTest Configuration:
channel_frequency: 1 kHz
pkg_size: 1024 B
topic_number: 1
parallel_number=1 ~ 10
Test Results:
Rpc Backend Performance Tests
Impact of Packet Size on Performance in Bench Mode:
Test Objective: Performance test of single-machine cross-process Rpc backend in bench mode with different
packet sizesTest 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 Objective: Performance test of single-machine cross-process Rpc backend in fixed-freq mode with different
packet sizesTest 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 Objective: Performance test of single-machine cross-process Rpc backend in bench mode with different
concurrency levelsTest 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 Objective: Performance test of single-machine cross-process Rpc backend in fixed-freq mode with different
concurrency levelsTest Configuration:
mode: fixed-freq
channel_frequency: 1 kHz
pkg_size: 1024 B
paraller_number: 1 ~ 10
Test Results:
Cross-machine Performance Tests
Channel Backend Performance Tests
Impact of Packet Size on Performance:
Test Objective: Performance test of cross-machine Channel backend with different
packet sizesTest 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 Objective: Performance test of cross-machine Channel backend with different
topic countsTest Configuration:
channel_frequency: 1 kHz
pkg_size: 1024 B
topic_number: 1 ~ 10
parallel_number=1
Test Results:
Impact of Concurrency on Performance:
Test Objective: Performance test of cross-machine Channel backend with different
concurrency levelsTest Configuration:
channel_frequency: 1 kHz
pkg_size: 1024 B
topic_number: 1
parallel_number=1 ~ 10
Test Results:
Rpc Backend Performance Tests
Impact of Packet Size on Performance in Bench Mode:
Test Objective: Performance test of cross-machine Rpc backend in bench mode with different
packet sizesTest 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 Objective: Performance test of cross-machine Rpc backend in fixed-freq mode with different
packet sizesTest 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 Objective: Performance test of cross-machine Rpc backend in bench mode with different
concurrency levelsTest 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 Objective: Performance test of cross-machine Rpc backend in fixed-freq mode with different
concurrency levelsTest Configuration:
mode: fixed-freq
channel_frequency: 1 kHz
pkg_size: 1024 B
paraller_number: 1 ~ 10
Test Results:
