Applications/scripts in this repository target cluster of development boards in SLAM Lab at UT Austin named SLAMpede (named after stampede). This cluster consists of six Raspberry Pi 3 that run Linux-based Raspbian "Stretch" operating system and are connected to each other via Ethernet and Wi-Fi. Picture below shows the cluster with the nodes (blue0,orange0,pink0) and Ethernet switch at the bottom, (blue1,orange1,pink1) at the middle and AP on the top shelf.

Picture of SLAMpede

Directories of this repository include:

Scripts for disabling on-demand governor and setting frequency to maximum

For retriving IP addresses associated with Ethernet and Wi-Fi interfaces of cluster

Scripts for emulating specific network delays/losses. "netem/tables" includes code from iproute2 package for generating distribution tables used by netEm.

For disabling/enabling Network Time Protocol (make sure to randomize system time afterwards)

An attempt to profile one-way delay between hosts, highly depends on the accuracy of the time synchronization scheme

Scripts for pinging hosts from each other over Ethernet of Wi-Fi

To allow real-time tasks to use 100% of CPU time (default value is 95%)

To increase size of send buffers. (necessary for Wi-Fi sockets due to potential traffic congestion)

To profile latency of sending various sizes of UDP packets over Wi-Fi