Performance analysis of a multi-container Autoware deployment

[oguzkaganozt]

Discussed in https://github.com/orgs/autowarefoundation/discussions/5012

^{Originally posted by oguzkaganozt July 18, 2024}

Motivation

Now that the Open AD Kit containers are being used by different parties on different demos/activities etc. Testing multi-container behaviour and conducting a performance analysis can lead the way through the best possible aproach on how to upsteam multi-container deployment to the Autoware.

Possible Approach

Phase 1
Utilizing Reaction Analyzer Tool for measuring end-to-end latency of the system with 2 containers being planning-control & perception-localization by using pre-recorded rosbags and map.

Phase 2
Replicating TUM's take on modular Autoware's setup on a smaller scale by using 7 modular containers with the help of Reaction Analyzer Tool for measuring end-to-end latency of the system

Definition of done

Performance analysis report comparing bare-metal, Phase-1 and Phase-2 deployment results in a summarized format.

[oguzkaganozt]

Performance Test Comparison Report_ Autoware Universe vs OpenADKit v2.pdf
Open_AD_Kit_Project_Documentation.pdf

[oguzkaganozt]

Performance analysis of Autoware nodes within container using reaction analyzer tool has been finalized with above result papers.