# Evaluate ROS component performance with `qrb_ros_benchmark`

`qrb_ros_benchmark` is a benchmarking tool designed for evaluating the performance of ROS components on Qualcomm robotics platforms. It provides reusable components for benchmarking various message types and ROS nodes, with a focus on zero-copy transport mechanisms.

`qrb_ros_benchmark` builds on [ros2_benchmark](https://github.com/NVIDIA-ISAAC-ROS/ros2_benchmark) and extends it with specialized components for benchmarking QRB ROS transport types, including:

- QRB transport types (Image, IMU, PointCloud2)
- DMABuf transport types (Image, PointCloud2)
- Standard ROS message types

## Software structure

The figure shows the software structure of `qrb_ros_benchmark`.

![image19](data:image/png;base64,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)

**Software structure of `qrb_ros_benchmark`**

The basic usage is similar to [ros2_benchmark](https://github.com/NVIDIA-ISAAC-ROS/ros2_benchmark) and the following are the exclusive message types supported by `qrb_ros_benchmark`:

**QRB transport types:**

- `qrb_ros/transport/type/Image`
- `qrb_ros/transport/type/Imu`
- `qrb_ros/transport/type/PointCloud2`
- `qrb_ros_tensor_list_msgs::msg::TensorList`

**DMABuf transport types:**

- `dmabuf_transport/type/Image`
- `dmabuf_transport/type/PointCloud2`

## Prerequisites

You have set up the device, installed ROS2 Jazzy and QIR SDK on the device according to [Install the QIR SDK](https://docs.qualcomm.com/doc/80-90441-2/topic/2-install-the-qir-sdk.html#install-qir-sdk).

## Run out-of-the-box `qrb_ros_benchmark`

**Steps**

1. Install the `qrb_ros_benchmark` packages.

sudo apt install ros-jazzy-qrb-ros-benchmark
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2. Create a minimum template for evaluating `qrb_ros/transport/type/Image`:

vim qrb-ros-transport-image-type_launch.py
        
         from launch_ros.actions import ComposableNodeContainer
         from launch_ros.descriptions import ComposableNode
         from ros2_benchmark import ImageResolution
         from ros2_benchmark import ROS2BenchmarkConfig, ROS2BenchmarkTest
         def launch_setup(container_prefix, container_sigterm_timeout):
             data_loader_node = ComposableNode(
                 name='DataLoaderNode',
                 namespace=TestQrbNode.generate_namespace(),
                 package='ros2_benchmark',
                 plugin='ros2_benchmark::DataLoaderNode',
             )
             # QrbPlaybackNode
             playback_node = ComposableNode(
                 name='QrbPlaybackNode',
                 namespace=TestQrbNode.generate_namespace(),
                 package='qrb_ros_benchmark',
                 plugin='qrb_ros::benchmark::QrbPlaybackNode',
                 parameters=[{
                     'data_formats': [
                         'qrb_ros/transport/type/Image'
                     ],
                 }],
                 remappings=[
                     ('buffer/input0', '/data_loader_image'),
                     ('input0', '/playback_image')
                 ]
             )
             # Insert QRB ROS nodes
             # QrbMonitorNode
             monitor_node = ComposableNode(
                 name='QrbMonitorNode',
                 namespace=TestQrbNode.generate_namespace(),
                 package='qrb_ros_benchmark',
                 plugin='qrb_ros::benchmark::QrbMonitorNode',
                 parameters=[{
                     'monitor_data_format': 'qrb_ros/transport/type/Image',
                 }]
             )
             composable_node_container = ComposableNodeContainer(
                 name='container',
                 namespace=TestQrbNode.generate_namespace(),
                 package='rclcpp_components',
                 executable='component_container_mt',
                 prefix=container_prefix,
                 sigterm_timeout=container_sigterm_timeout,
                 composable_node_descriptions=[
                     data_loader_node,
                     playback_node,
                     monitor_node,
                     # Insert QRB ROS nodes
                 ],
                 output='screen'
             )
             return [composable_node_container]
         def generate_test_description():
             return TestQrbNode.generate_test_description_with_nsys(launch_setup)
         class TestQrbNode(ROS2BenchmarkTest):
             config = ROS2BenchmarkConfig(
                 benchmark_name='Qrb_ros_transport image Test Benchmark',
                 input_data_path='/path/to/rosbag',
                 publisher_upper_frequency=100.0,
                 publisher_lower_frequency=10.0,
                 playback_message_buffer_size=10
             )
             def test_benchmark(self):
                 self.run_benchmark()
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3. Start the qrb-ros-transport-image-type benchmark.

source /opt/ros/jazzy/setup.bash
        launch_test qrb-ros-transport-image-type_launch.py
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## Build from source

**Steps**

1. Install dependencies.

sudo apt install ros-jazzy-qrb-ros-transport-image-type
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2. Download the source code and build with colcon.

mkdir -p ~/ros-ws/src
        cd ~/ros-ws/src
        git clone https://github.com/qualcomm-qrb-ros/ros2_benchmark.git
        git clone https://github.com/qualcomm-qrb-ros/qrb_ros_transport.git
        git clone https://github.com/qualcomm-qrb-ros/lib_mem_dmabuf.git
        git clone https://github.com/qualcomm-qrb-ros/qrb_ros_imu.git
        git clone https://github.com/qualcomm-qrb-ros/dmabuf_transport.git
        git clone https://github.com/qualcomm-qrb-ros/qrb_ros_benchmark.git
        cd ~/ros-ws/
        colcon build
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3. Run and debug.

source install/setup.bash
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4. Run the qrb-ros-benchmark according to step2 of [Run out-of-the-box qrb\_ros\_benchmark](https://docs.qualcomm.com/doc/80-90441-2/topic/evaluate-ros-component-performance-with-qrb_ros_benchmark.html#run-benchmark).

Last Published: Sep 07, 2026

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