Installation Guide#

1. Set Up ROS2#

Follow the Getting Started guide to install and configure ROS2 before continuing.

2. Install Simulation Packages#

Follow the installation steps in each tutorial before running benchmarks:

3. Install the KPI Monitoring Package#

Install the benchmark framework package for your ROS distribution:

Jazzy

sudo apt update
sudo apt install ros-jazzy-benchmark-framework

Humble

sudo apt update
sudo apt install ros-humble-benchmark-framework

This installs the KPI monitoring tools and all required system dependencies.

4. Install uv#

uv is used to manage Python dependencies:

curl -LsSf https://astral.sh/uv/install.sh | sh

Then restart your shell (or open a new terminal) so that uv is on your PATH.

From the benchmarking directory, install Python dependencies:

Jazzy

cd /opt/ros/jazzy/benchmarking
uv sync

Humble

cd /opt/ros/humble/benchmarking
uv sync

5. Set Up Passwordless SSH (Remote Monitoring)#

Passwordless SSH is required when monitoring a ROS2 system on a remote machine (e.g. a robot). Skip this step if you are monitoring locally.

# Generate a key on the monitoring machine (if needed)
ssh-keygen -t ed25519 -C "ros2-monitoring"

# Copy to the remote machine
ssh-copy-id username@remote-ip-address

# Verify
ssh username@remote-ip-address "echo 'SSH works!'"

Optional: add a host alias in ~/.ssh/config:

Host robot
    HostName 192.168.1.100
    User ubuntu
    IdentityFile ~/.ssh/id_ed25519