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2026-10-04 20:17:47 +08:00 · 2025-10-22 03:11:03 +00:00
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+# 性能基准测试使用
+
+本节介绍如何在 C++ 和 Python 中使用性能基准测试工具，并提供示例 YAML 配置文件。
+
+## 使用通用基准测试节点
+
+```
+ros2 run orbbec_camera common_benchmark_node.py \
+    --run_time 2h  \
+    --csv_file /path/to/log.csv
+```
+
+* **参数**
+  * **--run_time**：监控持续时间，指定为时间字符串，如 `"10s"`、`"5m"`、`"1h"`、`"2d"`。默认为 10 秒。
+  *  **--csv_file**：输出 CSV 文件的路径。默认情况下，它保存在工作空间目录中，名称为 "camera_monitor_log.csv"。
+
+## 使用服务基准测试节点
+
+### ROS2 C++
+
+* **单个服务基准测试**
+
+```
+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
+```
+
+* **多个服务基准测试（YAML 配置）**
+
+```
+ros2 run orbbec_camera service_benchmark_node \
+    --ros-args \
+    -p yaml_file:=/path/to/default_service_cpp.yaml
+```
+
+### ROS2 Python
+
+* **单个服务基准测试**
+
+```
+ros2 run orbbec_camera service_benchmark_node.py --service /camera/get_depth_gain --count 10
+```
+
+* **多个服务基准测试（YAML 配置）**
+
+```
+ros2 run orbbec_camera service_benchmark_node.py --yaml_file /path/to/default_service.yaml
+```
+
+### **示例 YAML 配置**
+
+我们提供了一个示例 YAML 配置，位于 `scripts` 目录中，名为 `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}
+```