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2026-10-04 12:07:46 +08:00 · 2025-10-22 03:11:03 +00:00
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+# Benchmark Usage
+
+This section introduces how to use the benchmark tool in C++ and Python, and provides an example YAML configuration file.
+
+## Using common benchmark node
+
+```
+ros2 run orbbec_camera common_benchmark_node.py \
+    --run_time 2h  \
+    --csv_file /path/to/log.csv
+```
+
+
+
+* **Parameters**
+  * **--run_time**: Duration for monitoring, specified as time strings like `"10s"`, `"5m"`, `"1h"`, `"2d"`. Default is 10 seconds.
+  *  **--csv_file**: Path to the output CSV file. By default, it is saved in the workspace directory with the name "camera_monitor_log.csv".
+
+## Using service benchmark node
+
+### ROS2 C++
+
+* **Single service benchmark**
+
+```
+ros2 run orbbec_camera service_benchmark_node \
+    --ros-args \
+    -p service_name:=/camera/get_depth_gain \
+    -p service_type:=orbbec_camera_msgs/srv/GetInt32 \
+    -p count:=10
+```
+
+* ****Multiple services benchmark (YAML config)****
+
+```
+ros2 run orbbec_camera service_benchmark_node \
+    --ros-args \
+    -p yaml_file:=/path/to/default_service_cpp.yaml
+```
+
+### ROS2 Python
+
+* **Single service benchmark**
+
+```
+ros2 run orbbec_camera service_benchmark_node.py --service /camera/get_depth_gain --count 10
+```
+
+* ****Multiple services benchmark (YAML config)****
+
+```
+ros2 run orbbec_camera service_benchmark_node.py --yaml_file /path/to/default_service.yaml
+```
+
+
+
+### **Example YAML configuration**
+
+We provide an example YAML configuration, located in the `scripts` directory as `service_default.yaml`.
+
+```yaml
+default_count: 50
+
+services:
+- name: /camera/get_auto_white_balance
+  type: orbbec_camera_msgs/srv/GetInt32
+- name: /camera/get_color_exposure
+  type: orbbec_camera_msgs/srv/GetInt32
+- name: /camera/get_color_gain
+  type: orbbec_camera_msgs/srv/GetInt32
+- name: /camera/get_depth_exposure
+  type: orbbec_camera_msgs/srv/GetInt32
+- name: /camera/get_depth_gain
+  type: orbbec_camera_msgs/srv/GetInt32
+- name: /camera/get_device_info
+  type: orbbec_camera_msgs/srv/GetDeviceInfo
+- name: /camera/send_software_trigger
+  type: std_srvs/srv/SetBool
+  request: {data: false}
+- name: /camera/set_auto_white_balance
+  type: std_srvs/srv/SetBool
+  request: {data: false}
+- name: /camera/set_color_ae_roi
+  type: orbbec_camera_msgs/srv/SetArrays
+  request: {data_param: [0,1279,0,719]}
+- name: /camera/set_color_auto_exposure
+  type: std_srvs/srv/SetBool
+  request: {data: false}
+- name: /camera/set_color_exposure
+  type: orbbec_camera_msgs/srv/SetInt32
+  request: {data: 30}
+- name: /camera/set_color_flip
+  type: std_srvs/srv/SetBool
+  request: {data: false}
+- name: /camera/set_color_gain
+  type: orbbec_camera_msgs/srv/SetInt32
+  request: {data: 20}
+- name: /camera/set_color_mirror
+  type: std_srvs/srv/SetBool
+  request: {data: false}
+- name: /camera/set_color_rotation
+  type: orbbec_camera_msgs/srv/SetInt32
+  request: {data: 90}
+- name: /camera/set_depth_ae_roi
+  type: orbbec_camera_msgs/srv/SetArrays
+  request: {data_param: [0,1279,0,719]}
+- name: /camera/set_depth_auto_exposure
+  type: std_srvs/srv/SetBool
+  request: {data: false}
+- name: /camera/set_depth_exposure
+  type: orbbec_camera_msgs/srv/SetInt32
+  request: {data: 3000}
+- name: /camera/set_depth_flip
+  type: std_srvs/srv/SetBool
+  request: {data: false}
+- name: /camera/set_depth_gain
+  type: orbbec_camera_msgs/srv/SetInt32
+  request: {data: 200}
+```