67 lines
2.1 KiB
Bash
67 lines
2.1 KiB
Bash
#!/usr/bin/env bash
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# С какой частотой `ros2 bag play` реально отдаёт кадры — без нашей ноды.
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# Нужно, чтобы отличить потери в нашем коде от предела самого транспорта.
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set -u
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BAG="${1:?укажите бэг}"
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TOPIC="${2:-/sensing/lidar/hesai128/pointcloud}"
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python3 - "$TOPIC" > /tmp/rate.txt 2>/dev/null <<'PY' &
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import sys, time
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import rclpy
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from rclpy.node import Node
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from rclpy.qos import (QoSProfile, QoSHistoryPolicy, QoSReliabilityPolicy,
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QoSDurabilityPolicy)
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from sensor_msgs.msg import PointCloud2
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topic = sys.argv[1]
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qos = QoSProfile(history=QoSHistoryPolicy.KEEP_LAST, depth=10,
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reliability=QoSReliabilityPolicy.RELIABLE,
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durability=QoSDurabilityPolicy.VOLATILE)
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class Sink(Node):
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def __init__(self):
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super().__init__("sink")
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self.n = 0
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self.first = self.last = None
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self.bytes = 0
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self.create_subscription(PointCloud2, topic, self.cb, qos, raw=True)
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def cb(self, raw):
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now = time.perf_counter()
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if self.first is None:
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self.first = now
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self.last = now
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self.n += 1
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self.bytes += len(raw)
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rclpy.init()
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s = Sink()
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try:
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rclpy.spin(s)
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except KeyboardInterrupt:
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pass
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finally:
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span = (s.last - s.first) if (s.first and s.last and s.last > s.first) else 0
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print(f"принято сообщений: {s.n}")
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if span > 0:
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print(f"за {span:.1f} с → {s.n / span:.2f} Гц")
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print(f"поток: {s.bytes / span / 1e6:.0f} МБ/с, размер кадра "
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f"{s.bytes / max(s.n, 1) / 1e6:.1f} МБ")
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PY
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SINK=$!
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sleep 3
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echo "=== проигрывание (приёмник только считает, ничего не обрабатывает) ==="
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T0=$(date +%s.%N)
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ros2 bag play "$BAG" >/dev/null 2>&1
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T1=$(date +%s.%N)
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awk -v a="$T0" -v b="$T1" 'BEGIN{printf "бэг проигран за %.1f с
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", b-a}'
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sleep 2
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kill -INT $SINK 2>/dev/null || true
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wait $SINK 2>/dev/null || true
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echo
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cat /tmp/rate.txt
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