Performance

Adora achieves 10-17x lower latency than ROS2 Python through zero-copy shared memory IPC, Apache Arrow columnar format, and 100% Rust internals. This document covers methodology, reproduction, and tuning.

Architecture Advantages

Benchmark Suite

Internal benchmarks (examples/benchmark/)

Measures Adora’s own latency and throughput across 10 payload sizes (0B to 4MB).

cd examples/benchmark
./compare.sh          # Rust vs Python sender comparison

Metrics reported: avg, p50, p95, p99, p99.9, min, max latency; msg/s throughput.

ROS2 comparison (examples/ros2-comparison/)

Apples-to-apples comparison using identical Python workloads on both frameworks.

cd examples/ros2-comparison
./run_comparison.sh   # Requires ROS2 Humble+

Both sides use time.perf_counter_ns() timestamps embedded in payload first 8 bytes. Same message count, sizes, and sleep intervals ensure comparable results.

Criterion micro-benchmarks

Isolated benchmarks for internal hot paths:

# Daemon message routing (fan-out x payload size matrix)
cargo bench -p adora-daemon

# Message serialization/deserialization
cargo bench -p adora-message

CI tracks these via benchmark-action/github-action-benchmark with 120% alert threshold.

Reproducing Results

要求

• Linux or macOS (shared memory IPC)
• Rust 1.85+ with release profile
• Python 3.10+ with numpy, pyarrow
• ROS2 Humble+ (for comparison only)

Steps

1. Build Adora:

   cargo install --path binaries/cli --locked
   

2. Run internal benchmark:

   cd examples/benchmark
   BENCH_CSV=results/rust.csv adora run dataflow.yml
   

3. Run ROS2 comparison:

   cd examples/ros2-comparison
   ./run_comparison.sh
   

Environment Notes

• Close background applications to reduce variance
• Use taskset or cpuset to pin processes for consistent results
• Run at least 3 iterations and report median
• Shared memory benefits appear at payloads >4KB

Performance Tuning

Queue sizes

Default queue size is 10. For high-throughput outputs, increase it:

inputs:
  data:
    source: producer/output
    queue_size: 1000

Payload size

Adora automatically uses shared memory for messages >4KB, avoiding copies. Structure data to exceed this threshold when low latency matters.

Arrow format

Use Arrow arrays directly instead of converting to/from Python lists:

# Fast: pass Arrow array directly
node.send_output("out", pa.array(data, type=pa.uint8()))

# Slow: convert through Python list
node.send_output("out", pa.array(list(data), type=pa.uint8()))

Operator vs Node

Operators run in-process with the runtime (zero IPC overhead) but share the GIL in Python. Use Rust operators for compute-heavy work, Python operators for glue logic.

Distributed deployment

For cross-machine communication, Adora uses Zenoh pub-sub. Latency depends on network quality. Use local deployment (single-machine) when sub-millisecond latency is required.

CSV Output Format

All benchmarks support BENCH_CSV environment variable for machine-readable output:

latency,<bytes>,<label>,<n>,<avg_ns>,<p50_ns>,<p95_ns>,<p99_ns>,<p999_ns>,<min_ns>,<max_ns>
throughput,<bytes>,<label>,<n>,<msg_per_sec>,<elapsed_ns>,0,0,0,0,0