From 5f8a4a0ca7d2543673789565370099a509d20409 Mon Sep 17 00:00:00 2001 From: David Date: Wed, 10 Sep 2025 23:00:40 -0500 Subject: [PATCH] feat: add latency_tester to test comms latency --- src/latency_tester/CMakeLists.txt | 27 +++ src/latency_tester/LICENSE | 202 +++++++++++++++++++++++ src/latency_tester/package.xml | 20 +++ src/latency_tester/src/embedded_ping.cpp | 103 ++++++++++++ 4 files changed, 352 insertions(+) create mode 100644 src/latency_tester/CMakeLists.txt create mode 100644 src/latency_tester/LICENSE create mode 100644 src/latency_tester/package.xml create mode 100644 src/latency_tester/src/embedded_ping.cpp diff --git a/src/latency_tester/CMakeLists.txt b/src/latency_tester/CMakeLists.txt new file mode 100644 index 0000000..6fea0db --- /dev/null +++ b/src/latency_tester/CMakeLists.txt @@ -0,0 +1,27 @@ +cmake_minimum_required(VERSION 3.8) +project(latency_tester) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) + +# Add embedded ping node +add_executable(embedded_ping src/embedded_ping.cpp) +ament_target_dependencies(embedded_ping rclcpp std_msgs) + +install(TARGETS + embedded_ping + DESTINATION lib/${PROJECT_NAME} +) + +ament_package() diff --git a/src/latency_tester/LICENSE b/src/latency_tester/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/src/latency_tester/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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