ros2-perf-multihost: Automated Coordination Framework for Objective Architecture Evaluation in Distributed Systems

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1. ROSCon 2026 2026/09/24 ros2-perf-multihost Automated Coordination Framework for Objective Architecture Evaluation in Distributed Systems Hideki Takase, Yuma Fujiwara, Yugo Tanaka, Takumi Kudo (The University of Tokyo)
2. The Rumor in RMW,,, Which DDS is good? Let's make it distributed? Does QoS really help? So many configs,,, Is Zenoh the future? Deploy with Docker? Let’s discuss “scientifically”!! Connect to the cloud? 2
3. Topology and Evaluation Framework https://gitlab.com/ApexAI/ performance_test https://github.com/irobotros/ros2-performance 3
4. Topology and Evaluation Framework How can we “scientifically” evaluate complex distributed ROS 2 systems? 4
5. ros2-perf-multihost Objective Architecture Evaluation Framework for ROS 2 distributed systems • Automated evaluation of multi-host topologies 1. Bridges the build–evaluation gap 2. Defines “scientific metrics” through a coordination architecture 3. Supports design decisions through rigorous, standardized evaluation 4. Builds a “data-driven benchmark library ecosystem” • Expected users −Robot system integrators −RMW/middleware developers and ROS 2 researchers 5
6. Step1: Define Topology host1 pub1 pub2 amazon inazuma json inter1 sub1 host2 host3 6
7. Step2: Generate Execution Scripts python3 manager_scripts/generate_exec_scripts.py \ <topology.json> \ [--ws-dir|-w <dir>] \ [--force|-f] pub tmpl sub tmpl inter tmpl Docker file host1 compose1.yml Manager run1.bash host2 compose2.yml json run2.bash host3 compose3.yml run3.bash 7
8. Step3: Run Benchmark result1.csv result2.csv host1 compose1.yml run1.bash REST Manager REST ./manager_scripts/manage_rest_servers.sh \ start \ <topology> \ [--ws-dir|-w <dir>] \ [--remote-repo-base|-b <dir>] \ [--ssh-user|-u <user>] host2 compose2.yml run2.bash REST result3.csv host3 compose3.yml run3.bash 1) Distribute scripts 2) Run on each host 3) Aggregates logs python3 performance_test/performance_test.py \ <topology> \ RMWの指定 [--rmw|-m <rmw>] \ [--exec-policy|-p <mode>] \ [--eval-time|-e <sec>] \ 実行モード [--trials|-t <n>] \ {native, docker} [--ws-dir|-w <dir>] \ [--remote-repo-base|-b <dir>] \ [--ssh-user|-u <user>] \ [--zenoh-router|-z <target>] \ Zenohルータの 配置の指定 [--strict-analysis|-s] 8
9. Step4: Results and Analysis take a closer look,,, 9
10. Try it out! First, learn the workflow! All you need is Docker 10
11. Summary Objective Architecture Evaluation Framework for ROS 2 distributed systems • Automates evaluation pipelines for multi-host ROS 2 topologies • Scientific metrics for system integrators, middleware developers, and researchers • Supports architecture decisions, not simply picking a “winner”! 11
12. Join us!! :D • TODOs,,, −Per-topic QoS and message-type settings −Fine-grained DDS/Zenoh configuration and tuning −Distributed deployments across networks ✓VPN, Discovery Server, zenohd,,, −Richer GUI and visualization: topology authoring and result plots • Call for Topologies!! −Share your distributed ROS 2 system configuration −Help build a “benchmark library ecosystem” together −Share the results with the community 12