We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering the full robotics pipeline and integrates two distinct benchmarking approaches: black-box testing, which measures performance by eliminating upper layers and replacing them with a test application, and grey-box testing, an application-specific measure that observes internal system states with minimal interference. Our benchmarking framework provides ready-to-use tools and is easily adaptable for the assessment of custom ROS 2 computational graphs. Drawing from the knowledge of leading robot architects and system architecture experts, RobotPerf establishes a standardized approach to robotics benchmarking. As an open-source initiative, RobotPerf remains committed to evolving with community input to advance the future of hardware-accelerated robotics.

翻译：我们推出RobotPerf，这是一个与供应商无关的基准测试套件，旨在以ROS 2为通用基线，评估多样化硬件平台上的机器人计算性能。该套件涵盖完整的机器人流水线ROS 2软件包，并集成两种不同的基准测试方法：黑盒测试通过消除上层模块并用测试应用替代来测量性能；灰盒测试则是一种应用特定的测量方法，在最小干扰下观测系统内部状态。我们的基准测试框架提供即用型工具，且易于适配自定义ROS 2计算图的评估。汲取顶尖机器人架构师与系统架构专家的知识，RobotPerf建立了机器人基准测试的标准化方法。作为开源项目，RobotPerf将持续演进，吸纳社区反馈，以推动硬件加速机器人的未来发展。