seam_synchronizer

seam_synchronizer SEAM is a novel message synchronization policy designed to fuse data from different sensors in ROS2. This project integrates SEAM into the ROS2 Dashing framework and evaluates its effectiveness through a series of experiments, comparing it to traditional ROS2 synchronizers. This project compare SEAM algorithm with ROS2 Approximate Time Policy in success rate and compute time with changing parameters like number of channels, period of messages, threshold of SEAM algorithm, etc.

Before running

You need to execute commands below before running test First, clone this package in your workspace, replace work_space as your workspace name

cd ~/work_space/src
git clone https://github.com/tianyiWangGithub/seam_synchronizer

Copy files from message_filters/sync_policies to ros2_dashing/src/ros2/message_filters/include/message_filters/sync_policies

Build the packages

Buid these message_filters package and seam_synchronizer package in your workspace

cd ~/ros2_dashing
colcon build --packages-select message_filters --symlink-install
source ./install/setup.bash
colcon build --packages-select seam_synchronizer --symlink-install

Run the experiments

The results folder already contains the results from previous experiments. Before running the experiments, you can execute run_draw_py.sh to generate graphical representations of the results. Running run_seam.sh or run_computetime.sh will overwrite the existing results. To obtain new graphical representations of the experimental results, you can run run_draw_py.sh again. In addition, the experiment is configured to run once per group. If you wish to change the number of experiments, you can modify the num_group value in run_seam.sh or run_computetime.sh.

1 Evaluate the performance by comparing the success rate of sensing data synchronization of the SEAM algorithm with the built-in ROS 2 ApproximateTime algorithm

cd ~/ros2_dashing/seam_synchronizer
./run_seam.sh

2 Evaluate the performance by comparing the compute time of sensing data synchronization of the SEAM algorithm with the built-in ROS 2 ApproximateTime algorithm

cd ~/ros2_dashing/seam_synchronizer
./run_computetime.sh

3 Draw graphs based on the experimental results obtained before

cd ~/ros2_dashing/seam_synchronizer
./run_draw_py.sh