├── .gitignore ├── .gitlab-ci.yml ├── LICENSE ├── README.md ├── SECURITY_DEMO.md ├── architecture.png ├── dockerfiles ├── Dockerfile.CycloneDDS ├── Dockerfile.CycloneDDS-CXX ├── Dockerfile.FastDDS ├── Dockerfile.OpenDDS ├── Dockerfile.iceoryx ├── Dockerfile.mashup ├── Dockerfile.rclcpp ├── Dockerfile.ros1_publisher ├── cyclonedds.xml └── roudi_config.toml ├── performance_report ├── README.md ├── cfg │ ├── plotter │ │ ├── plot_many_experiments.yaml │ │ └── plot_one_experiment.yaml │ ├── reporter │ │ ├── many.html │ │ ├── report_many_experiments.yaml │ │ ├── report_one_experiment.yaml │ │ └── single.html │ └── runner │ │ ├── run_many_experiments.yaml │ │ └── run_one_experiment.yaml ├── package.xml ├── performance_report │ ├── __init__.py │ ├── figures.py │ ├── generate_experiment_commands.py │ ├── generate_plots.py │ ├── generate_report.py │ ├── logs.py │ ├── qos.py │ ├── run_experiment.py │ ├── transport.py │ └── utils.py ├── pytest.ini ├── resource │ └── performance_report ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ ├── test_pep257.py │ └── test_utils.py ├── performance_test ├── CMakeLists.txt ├── bin │ ├── fastddsgen │ ├── fastddsgen.jar │ ├── fastrtpsgen │ └── fastrtpsgen.jar ├── cmake │ └── Modules │ │ ├── FindODB.cmake │ │ ├── FindRapidjson.cmake │ │ ├── FindTCLAP.cmake │ │ └── UseODB.cmake ├── compile_options.cmake ├── env_hook │ └── odb_library_path.sh.in ├── extern │ └── tclap-1.4.0-rc1 │ │ └── .gitkeep ├── external_patches │ └── sole.hpp.patch ├── helper_scripts │ ├── apex_performance_plotter │ │ ├── .gitignore │ │ ├── .pylintrc │ │ ├── MANIFEST.in │ │ ├── Pipfile │ │ ├── Pipfile.lock │ │ ├── apex_performance_plotter │ │ │ ├── __init__.py │ │ │ ├── generate_plots.py │ │ │ ├── load_logfiles.py │ │ │ └── template.tex │ │ ├── example_plot_two_experiments.png │ │ ├── requirements.in │ │ ├── setup.cfg │ │ ├── setup.py │ │ └── test │ │ │ └── test_generate_plots.py │ ├── generate_apex_xml.py │ ├── plot_logs.ipynb │ ├── policies │ │ ├── common │ │ │ ├── node.xml │ │ │ └── node │ │ │ │ ├── logging.xml │ │ │ │ ├── parameters.xml │ │ │ │ └── time.xml │ │ ├── performance_test.policy.xml │ │ └── policy.xml │ ├── regression_checkers │ │ ├── ApexComparison.py │ │ ├── apex_compare.py │ │ └── apex_compare_tree.py │ ├── run_connected_graph_experiment.py │ ├── run_experiment.py │ └── security_setup.bash ├── include │ └── performance_test │ │ ├── for_each.hpp │ │ └── version.h ├── mapping_rules.yaml ├── msg │ ├── Array16k.idl │ ├── Array1k.idl │ ├── Array1m.idl │ ├── Array256k.idl │ ├── Array2m.idl │ ├── Array32k.idl │ ├── Array4k.idl │ ├── Array4m.idl │ ├── Array60k.idl │ ├── Array64k.idl │ ├── Array8m.idl │ ├── BoundedSequence16k.idl │ ├── BoundedSequence1k.idl │ ├── BoundedSequence1m.idl │ ├── BoundedSequence256k.idl │ ├── BoundedSequence2m.idl │ ├── BoundedSequence32k.idl │ ├── BoundedSequence4k.idl │ ├── BoundedSequence4m.idl │ ├── BoundedSequence64k.idl │ ├── BoundedSequence8m.idl │ ├── CMakeLists.txt │ ├── Header.idl │ ├── NavSatFix.idl │ ├── NavSatStatus.idl │ ├── Point.idl │ ├── Point32.idl │ ├── PointCloud1m.idl │ ├── PointCloud2m.idl │ ├── PointCloud4m.idl │ ├── PointCloud512k.idl │ ├── PointCloud8m.idl │ ├── PointField.idl │ ├── Polygon.idl │ ├── RadarDetection.idl │ ├── RadarTrack.idl │ ├── Range.idl │ ├── Struct16.idl │ ├── Struct256.idl │ ├── Struct32k.idl │ ├── Struct4k.idl │ ├── Time.idl │ ├── UnboundedSequence.idl │ ├── UnboundedString.idl │ ├── Vector3.idl │ ├── capnproto │ │ └── .gitkeep │ ├── connextdds │ │ └── CMakeLists.txt │ ├── cyclonedds-cxx │ │ └── CMakeLists.txt │ ├── cyclonedds │ │ └── CMakeLists.txt │ ├── ecal │ │ └── CMakeLists.txt │ ├── fast_dds │ │ └── CMakeLists.txt │ ├── fast_rtps │ │ └── CMakeLists.txt │ ├── message_file.hpp.in │ ├── messages.hpp.in │ ├── opendds │ │ └── CMakeLists.txt │ ├── protobuf │ │ ├── Array16k.proto │ │ ├── Array1k.proto │ │ ├── Array1m.proto │ │ ├── Array256k.proto │ │ ├── Array2m.proto │ │ ├── Array32k.proto │ │ ├── Array4k.proto │ │ ├── Array4m.proto │ │ ├── Array60k.proto │ │ ├── Array64k.proto │ │ ├── Array8m.proto │ │ └── Time.proto │ └── rclcpp │ │ └── CMakeLists.txt ├── package.xml ├── src │ ├── communication_abstractions │ │ ├── communicator.cpp │ │ ├── communicator.hpp │ │ ├── connext_dds_communicator.hpp │ │ ├── connext_dds_micro_communicator.hpp │ │ ├── cyclonedds_communicator.hpp │ │ ├── cyclonedds_cxx_communicator.hpp │ │ ├── ecal_proto_communicator.hpp │ │ ├── ecal_raw_communicator.hpp │ │ ├── fast_dds_communicator.hpp │ │ ├── fast_rtps_communicator.hpp │ │ ├── iceoryx_communicator.hpp │ │ ├── opendds_communicator.hpp │ │ ├── rclcpp_callback_communicator.hpp │ │ ├── rclcpp_communicator.hpp │ │ ├── rclcpp_waitset_communicator.hpp │ │ ├── resource_manager.cpp │ │ └── resource_manager.hpp │ ├── data_running │ │ ├── data_runner.hpp │ │ ├── data_runner_base.hpp │ │ ├── data_runner_factory.cpp │ │ ├── data_runner_factory.hpp │ │ └── factories │ │ │ ├── rclcpp_sste_data_runner_factory.cpp │ │ │ ├── rclcpp_sste_data_runner_factory.hpp │ │ │ ├── rclcpp_ste_data_runner_factory.cpp │ │ │ ├── rclcpp_ste_data_runner_factory.hpp │ │ │ ├── rclcpp_waitset_data_runner_factory.cpp │ │ │ └── rclcpp_waitset_data_runner_factory.hpp │ ├── experiment_configuration │ │ ├── communication_mean.cpp │ │ ├── communication_mean.hpp │ │ ├── experiment_configuration.cpp │ │ ├── experiment_configuration.hpp │ │ ├── external_info_storage.cpp │ │ ├── external_info_storage.hpp │ │ ├── qos_abstraction.cpp │ │ └── qos_abstraction.hpp │ ├── experiment_execution │ │ ├── analysis_result.cpp │ │ ├── analysis_result.hpp │ │ ├── analyze_runner.cpp │ │ └── analyze_runner.hpp │ ├── main.cpp │ ├── outputs │ │ ├── csv_output.cpp │ │ ├── csv_output.hpp │ │ ├── json_output.cpp │ │ ├── json_output.hpp │ │ ├── output.hpp │ │ ├── stdout_output.cpp │ │ └── stdout_output.hpp │ └── utilities │ │ ├── cpu_usage_tracker.hpp │ │ ├── json_logger.hpp │ │ ├── qnx_res_usage.hpp │ │ ├── rt_enabler.hpp │ │ ├── spin_lock.hpp │ │ └── statistics_tracker.hpp ├── test │ └── src │ │ ├── test_performance_test.cpp │ │ └── test_statistics_tracker.hpp └── version_check.bash ├── performance_test_ros1_msgs ├── CMakeLists.txt ├── COLCON_IGNORE ├── msg │ ├── Array16k.msg │ ├── Array1k.msg │ ├── Array1m.msg │ ├── Array256k.msg │ ├── Array2m.msg │ ├── Array32k.msg │ ├── Array4k.msg │ ├── Array4m.msg │ ├── Array60k.msg │ ├── Array64k.msg │ ├── Array8m.msg │ ├── NavSatFix.msg │ ├── NavSatStatus.msg │ ├── Point.msg │ ├── Point32.msg │ ├── PointCloud1m.msg │ ├── PointCloud2m.msg │ ├── PointCloud4m.msg │ ├── PointCloud512k.msg │ ├── PointCloud8m.msg │ ├── Polygon.msg │ ├── RadarDetection.msg │ ├── RadarTrack.msg │ ├── Range.msg │ ├── Struct16.msg │ ├── Struct256.msg │ ├── Struct32k.msg │ ├── Struct4k.msg │ └── Vector3.msg └── package.xml ├── performance_test_ros1_publisher ├── CMakeLists.txt ├── COLCON_IGNORE ├── include │ └── performance_test_ros1_publisher │ │ └── msg_types.hpp ├── package.xml └── src │ ├── check_master.cpp │ └── 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