Quad Perf Tests¶

Overview¶

This package provides performance-testing utilities for Quad-SDK. The primary tool is a configurable cmd_vel publisher that drives the robot through deterministic or randomized velocity trajectories — useful for benchmarking controller tracking, stress-testing the planning stack, and collecting reproducible training rollouts.

License¶

The source code is released under a MIT License.

Affiliation: Robomechanics Lab, Carnegie Mellon University

Tested under ROS2 Jazzy on Ubuntu 24.04.

Build¶

colcon build --packages-select quad_perf_tests

Usage¶

Run the publisher against a running stack:

ros2 run quad_perf_tests cmd_vel_publisher_node --ros-args \
    --params-file install/quad_perf_tests/share/quad_perf_tests/config/cmd_vel_publisher.yaml \
    --params-file install/quad_perf_tests/share/quad_perf_tests/config/cmd_vel_publisher_topics.yaml

Config¶

config/cmd_vel_publisher.yaml — mode, velocity bounds, duration, seed.
config/cmd_vel_publisher_topics.yaml — topic remappings.

Nodes¶

cmd_vel_publisher_node¶

Publishes a geometry_msgs/Twist command on the cmd_vel topic. Three modes are supported:

single — sample one random velocity within the configured bounds and hold it for test_duration seconds.
timer — resample a new random velocity every resample_sec seconds.
off — publish zero velocity (useful as a keep-alive).

Published Topics¶

cmd_vel (geometry_msgs/Twist)

Commanded body twist.

Parameters¶

cmd_vel_publisher.update_rate (double, default: 500.0) — publish rate in Hz. Must match robot_driver.update_rate.
cmd_vel_publisher.mode (string, default: single) — one of single, timer, off.
cmd_vel_publisher.resample_sec (double, default: 3.0) — resample interval for timer mode.
cmd_vel_publisher.bounds.x_{min,max} (double) — forward velocity bounds in m/s.
cmd_vel_publisher.bounds.y_{min,max} (double) — lateral velocity bounds in m/s.
cmd_vel_publisher.bounds.yaw_{min,max} (double) — yaw-rate bounds in rad/s.
cmd_vel_publisher.test_duration (double, default: 10.0) — duration for single mode in seconds.
cmd_vel_publisher.seed (int, default: 1) — RNG seed for reproducibility.

Bugs & Feature Requests¶

Please report bugs and request features using the Issue Tracker.