rclnodejs/test_repro_exact.js

ROS2.0 JavaScript client with Node.js

// Thorough latency/throughput test matching the exact issue scenario
'use strict';

const rclnodejs = require('./index.js');

async function main() {
  await rclnodejs.init();

  const node = new rclnodejs.Node('test_node');

  let lastTs;
  let msgCount = 0;
  const hzSamples = [];

  node.createSubscription(
    'std_msgs/msg/Float64MultiArray',
    '/map_to_base_link_pose2d',
    (msg) => {
      const now = Date.now();
      msgCount++;
      if (lastTs) {
        const hz = 1000 / (now - lastTs);
        hzSamples.push(hz);
        console.log('Raw Hz:', hz.toFixed(2));
      }
      lastTs = now;
    }
  );

  rclnodejs.spin(node);

  console.log('Waiting for messages on /map_to_base_link_pose2d at ~10Hz...');
  console.log('Run this in another terminal:');
  console.log(
    '  ros2 topic pub -r 10 /map_to_base_link_pose2d std_msgs/msg/Float64MultiArray "{data: [1.0, 2.0, 3.0]}"'
  );

  setTimeout(() => {
    if (hzSamples.length > 0) {
      const avgHz = hzSamples.reduce((a, b) => a + b, 0) / hzSamples.length;
      console.log(`\n--- Summary ---`);
      console.log(`Messages: ${msgCount}, Avg Hz: ${avgHz.toFixed(2)}`);
      if (avgHz < 5) {
        console.log('*** REGRESSION DETECTED ***');
      } else {
        console.log('Performance OK');
      }
    } else {
      console.log('No messages received');
    }
    node.stop();
    rclnodejs.shutdown();
    process.exit(0);
  }, 15000);
}

main().catch(console.error);