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EXPERIMENTS.md

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Paper Experiments

Below you find a table listing all experiments that are reported in our paper and how to launch the specific configurations.

Please make yourself familiar with the Quick Start first. In order to keep the launch commands simple, create more aliases containing all fixed parameters.

Cloud 
alias benchmark_cloud="
  docker run --rm -it \
  --name benchmarking-cloud \
  ros-v2x-benchmarking-suite"

alias benchmark_cloud_ol="
  docker run --rm -it \
  --name benchmarking-cloud \
  --network overlay \
  ros-v2x-benchmarking-suite"

alias benchmark_cloud_mqtt_client="
  benchmark_cloud roslaunch benchmarking_suite benchmark_mqtt_client.launch \
  type:=cloud host:=$BROKER_HOST user:=$BROKER_USER pass:=$BROKER_PASS"

alias benchmark_cloud_mqtt_bridge="
  benchmark_cloud roslaunch benchmarking_suite benchmark_mqtt_bridge.launch \
  type:=cloud host:=$BROKER_HOST user:=$BROKER_USER pass:=$BROKER_PASS"

alias benchmark_cloud_overlay="
  benchmark_cloud_ol roslaunch benchmarking_suite benchmark_overlay.launch \
  type:=cloud"
Vehicle 
alias benchmark_vehicle="
  docker run --rm -it \
  --env DISPLAY \
  --volume /tmp/.X11-unix:/tmp/.X11-unix \
  --volume $(pwd)/rosbags:/root/ws/rosbags \
  --volume $(pwd)/src/benchmarking_suite/experiments:/root/ws/src/benchmarking_suite/experiments \
  --name benchmarking-vehicle \
  ros-v2x-benchmarking-suite"

alias benchmark_vehicle_ol="
  docker run --rm -it \
  --env DISPLAY \
  --volume /tmp/.X11-unix:/tmp/.X11-unix \
  --volume $(pwd)/rosbags:/root/ws/rosbags \
  --volume $(pwd)/src/benchmarking_suite/experiments:/root/ws/src/benchmarking_suite/experiments \
  --name benchmarking-vehicle \
  --network overlay \
  --env ROS_MASTER_URI="http://benchmarking-cloud:11311" \
  ros-v2x-benchmarking-suite"

alias benchmark_vehicle_mqtt_client="
  benchmark_vehicle roslaunch benchmarking_suite benchmark_mqtt_client.launch \
  type:=vehicle host:=$BROKER_HOST user:=$BROKER_USER pass:=$BROKER_PASS"

alias benchmark_vehicle_mqtt_bridge="
  benchmark_vehicle roslaunch benchmarking_suite benchmark_mqtt_bridge.launch \
  type:=vehicle host:=$BROKER_HOST user:=$BROKER_USER pass:=$BROKER_PASS"

alias benchmark_vehicle_overlay="
  benchmark_vehicle_ol roslaunch benchmarking_suite benchmark_overlay.launch \
  type:=vehicle"

alias benchmark_in_vehicle="
  benchmark_vehicle roslaunch benchmarking_suite benchmark_in_vehicle.launch"
Section Method Table Figure Cloud Launch Command Vehicle Launch Command Notes
V.A mqtt_client I 4 benchmark_cloud_mqtt_client benchmark_vehicle_mqtt_client
V.A mqtt_bridge I 4 benchmark_cloud_mqtt_bridge benchmark_vehicle_mqtt_bridge
V.A overlay I 4 benchmark_cloud_overlay benchmark_vehicle_overlay
V.A in_vehicle I 4 - benchmark_vehicle_in_vehicle
V.A (Encryption) mqtt_client II - benchmark_cloud_mqtt_client benchmark_vehicle_mqtt_client
V.A (Encryption) mqtt_client II - benchmark_cloud_mqtt_client port:=8883 ssl:=true benchmark_vehicle_mqtt_client port:=8883 ssl:=true MQTT Encryption
V.A (Encryption) mqtt_client II - benchmark_cloud_mqtt_client benchmark_vehicle_mqtt_client VPN enabled
V.A (Encryption) overlay II - benchmark_cloud_overlay benchmark_vehicle_overlay
V.A (Encryption) overlay II - benchmark_cloud_overlay benchmark_vehicle_overlay Docker Network Encryption
V.A (QoS) mqtt_client III - benchmark_cloud_mqtt_client benchmark_vehicle_mqtt_client
V.A (QoS) mqtt_client III - benchmark_cloud_mqtt_client qos:=1 benchmark_vehicle_mqtt_client qos:=1
V.A (QoS) mqtt_client III - benchmark_cloud_mqtt_client qos:=2 benchmark_vehicle_mqtt_client qos:=2
V.A (Data Size and Type) mqtt_client IV - benchmark_cloud_mqtt_client qos:=1 benchmark_vehicle_mqtt_client p_packets:=0.0 qos:=1
V.A (Data Size and Type) mqtt_client IV - benchmark_cloud_mqtt_client benchmark_vehicle_mqtt_client p_packets:=0.25
V.A (Data Size and Type) mqtt_client IV - benchmark_cloud_mqtt_client benchmark_vehicle_mqtt_client p_packets:=0.5
V.A (Data Size and Type) mqtt_client IV - benchmark_cloud_mqtt_client benchmark_vehicle_mqtt_client p_packets:=0.75
V.A (Data Size and Type) mqtt_client IV - benchmark_cloud_mqtt_client benchmark_vehicle_mqtt_client
V.A (Data Size and Type) mqtt_client IV - benchmark_cloud_mqtt_client datatype:=pointcloud benchmark_vehicle_mqtt_client datatype:=pointcloud
V.B mqtt_client V 5 - benchmark_cloud_mqtt_client transmission_only:=true
V.B mqtt_client V 5 - benchmark_cloud_mqtt_client transmission_only:=true p_packets:=0.0