Wandering AMR Pipeline Benchmark

This benchmark measures KPI performance of the Wandering Application — an AMR pipeline where a TurtleBot3 Waffle autonomously maps a Gazebo environment using Nav2 and RTAB-Map.

The ROS2 KPI toolkit records timing, resource, and optionally GPU/NPU metrics across repeated runs and produces aggregated KPI reports.

Prerequisites

Complete the Installation Guide and ensure the wandering application runs successfully before benchmarking.

Single Run

A single run starts the Gazebo wandering simulation, attaches the graph monitor and latency trigger, and saves all output to monitoring_sessions/wandering/<timestamp>/.

# Basic single run
make wandering

# Single run + record a KPI rosbag
make wandering-record

After the run, visualize results:

make visualize-last ALGORITHM=wandering
make pipeline-graph ALGORITHM=wandering

Benchmark (Multiple Runs)

The benchmark target runs the simulation RUNS times (default: 25), pausing between runs, and then aggregates KPI statistics across all sessions.

# Default benchmark (25 runs, 120s each)
make wandering-benchmark

# Custom parameters
make wandering-benchmark RUNS=10 TIMEOUT=120

# Re-aggregate KPIs from a completed benchmark directory
make analyze-benchmark BENCH=monitoring_sessions/wandering/bench_20260319_100421

Parameter	Description	Default
RUNS	Number of simulation runs	25
TIMEOUT	Max duration per run (seconds)	120
PAUSE	Pause between runs (seconds)	30
NODE	Narrow graph discovery to a specific node	—

Sessions are stored in monitoring_sessions/wandering/.

Remote Benchmark

To benchmark a wandering pipeline running on a remote machine:

# CPU + GPU monitoring
make monitor-remote REMOTE_IP=10.0.0.1 REMOTE_USER=intel DOMAIN_ID=46 \
    GPU=1 ALGORITHM=wandering DURATION=180

# CPU + NPU monitoring
make monitor-remote REMOTE_IP=10.0.0.1 REMOTE_USER=intel DOMAIN_ID=46 \
    NPU=1 ALGORITHM=wandering DURATION=180

# Combined GPU + NPU
make monitor-remote REMOTE_IP=10.0.0.1 REMOTE_USER=intel DOMAIN_ID=46 \
    GPU=1 NPU=1 ALGORITHM=wandering DURATION=180

Note: DDS discovery on remote sessions typically takes 30–60 seconds. Use DURATION=180 or longer to ensure meaningful data is captured.

For repeated remote runs:

make monitor-remote-repeat REMOTE_IP=<ip> REMOTE_USER=intel REPEAT=3 \
    GPU=1 ALGORITHM=wandering DOMAIN_ID=46

Visualization

# Timeline, resource, and frequency plots
make visualize-last ALGORITHM=wandering

# Full GPU dashboard (engine/freq/power)
make visualize-gpu ALGORITHM=wandering

# NPU dashboard (busy%, clock, memory)
make visualize-npu ALGORITHM=wandering

# Interactive node topology graph
make pipeline-graph ALGORITHM=wandering

Session Data Layout

monitoring_sessions/
└── wandering/
    ├── bench_20260319_100421/        # benchmark run directory
    │   ├── 20260319_100421/          # individual run session
    │   │   ├── session_info.txt
    │   │   ├── graph_timing.csv
    │   │   ├── resource_usage.log
    │   │   ├── gpu_usage.log         # present when GPU=1
    │   │   ├── npu_usage.log         # present when NPU=1
    │   │   └── visualizations/
    │   └── kpi_summary.txt           # aggregated KPIs across runs
    └── 20260319_183913/              # standalone single run
        └── ...