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feat: add DimosROS benchmark tests #1087

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Merged
paul-nechifor merged 1 commit into from
Jan 25, 2026
Merged

feat: add DimosROS benchmark tests #1087

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48 changes: 47 additions & 1 deletion dimos/protocol/pubsub/benchmark/testdata.py
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Original file line number Diff line number Diff line change
Expand Up @@ -199,7 +199,7 @@ def redis_msggen(size: int) -> tuple[str, Any]:
print("Redis not available")


from dimos.protocol.pubsub.rospubsub import ROS_AVAILABLE, RawROS, RawROSTopic
from dimos.protocol.pubsub.rospubsub import ROS_AVAILABLE, DimosROS, RawROS, RawROSTopic, ROSTopic

if ROS_AVAILABLE:
from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
Expand Down Expand Up @@ -267,3 +267,49 @@ def ros_msggen(size: int) -> tuple[RawROSTopic, ROSImage]:
msg_gen=ros_msggen,
)
)

@contextmanager
def dimos_ros_best_effort_pubsub_channel() -> Generator[DimosROS, None, None]:
qos = QoSProfile(
reliability=QoSReliabilityPolicy.BEST_EFFORT,
history=QoSHistoryPolicy.KEEP_LAST,
durability=QoSDurabilityPolicy.VOLATILE,
depth=5000,
)
ros_pubsub = DimosROS(node_name="benchmark_dimos_ros_best_effort", qos=qos)
ros_pubsub.start()
yield ros_pubsub
ros_pubsub.stop()

@contextmanager
def dimos_ros_reliable_pubsub_channel() -> Generator[DimosROS, None, None]:
qos = QoSProfile(
reliability=QoSReliabilityPolicy.RELIABLE,
history=QoSHistoryPolicy.KEEP_LAST,
durability=QoSDurabilityPolicy.VOLATILE,
depth=5000,
)
ros_pubsub = DimosROS(node_name="benchmark_dimos_ros_reliable", qos=qos)
ros_pubsub.start()
yield ros_pubsub
ros_pubsub.stop()

def dimos_ros_msggen(size: int) -> tuple[ROSTopic, Image]:
topic = ROSTopic(topic="/benchmark/dimos_ros", msg_type=Image)
return (topic, make_data_image(size))

# commented to save benchmarking time,
# since reliable and best effort are very similar in performance for local pubsub
# testcases.append(
# Case(
# pubsub_context=dimos_ros_best_effort_pubsub_channel,
# msg_gen=dimos_ros_msggen,
# )
# )

testcases.append(
Case(
pubsub_context=dimos_ros_reliable_pubsub_channel,
msg_gen=dimos_ros_msggen,
)
)
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