<?xml version="1.0" encoding="utf-8" standalone="no"?> <!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd"> <svg xmlns:xlink="http://www.w3.org/1999/xlink" width="576pt" height="144pt" viewBox="0 0 576 144" xmlns="http://www.w3.org/2000/svg" version="1.1"> <metadata> <rdf:RDF xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:cc="http://creativecommons.org/ns#" xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"> <cc:Work> <dc:type rdf:resource="http://purl.org/dc/dcmitype/StillImage"/> <dc:date>2024-09-04T10:41:15.616071</dc:date> <dc:format>image/svg+xml</dc:format> <dc:creator> <cc:Agent> <dc:title>Matplotlib v3.9.2, https://matplotlib.org/</dc:title> </cc:Agent> </dc:creator> </cc:Work> </rdf:RDF> </metadata> <defs> <style type="text/css">*{stroke-linejoin: round; stroke-linecap: butt}</style> </defs> <g id="figure_1"> <g id="patch_1"> <path d="M 0 144 L 576 144 L 576 0 L 0 0 L 0 144 z " style="fill: none; opacity: 0"/> </g> <g id="axes_1"> <g id="patch_2"> <path d="M 72 128.16 L 518.4 128.16 L 518.4 17.28 L 72 17.28 L 72 128.16 z " style="fill: none"/> </g> <g id="patch_3"> <path d="M 72 22.32 L 96.823833 22.32 L 96.823833 62.64 L 72 62.64 z " clip-path="url(#p9bd4d5c8bd)" style="fill: #800080"/> </g> <g id="patch_4"> <path d="M 72 82.8 L 497.142857 82.8 L 497.142857 123.12 L 72 123.12 z " clip-path="url(#p9bd4d5c8bd)" style="fill: #808080; fill-opacity: 0.7"/> </g> <g id="matplotlib.axis_1"> <g id="xtick_1"/> <g id="xtick_2"/> <g id="xtick_3"/> <g id="xtick_4"/> <g id="xtick_5"/> <g id="xtick_6"/> <g id="xtick_7"/> <g id="xtick_8"/> <g id="xtick_9"/> <g id="text_1"> <!-- Latency (ms) --> <g style="fill: #ffffff" transform="translate(262.470312 139.758438) scale(0.1 -0.1)"> <defs> <path id="DejaVuSans-4c" d="M 628 4666 L 1259 4666 L 1259 531 L 3531 531 L 3531 0 L 628 0 L 628 4666 z " transform="scale(0.015625)"/> <path id="DejaVuSans-61" d="M 2194 1759 Q 1497 1759 1228 1600 Q 959 1441 959 1056 Q 959 750 1161 570 Q 1363 391 1709 391 Q 2188 391 2477 730 Q 2766 1069 2766 1631 L 2766 1759 L 2194 1759 z M 3341 1997 L 3341 0 L 2766 0 L 2766 531 Q 2569 213 2275 61 Q 1981 -91 1556 -91 Q 1019 -91 701 211 Q 384 513 384 1019 Q 384 1609 779 1909 Q 1175 2209 1959 2209 L 2766 2209 L 2766 2266 Q 2766 2663 2505 2880 Q 2244 3097 1772 3097 Q 1472 3097 1187 3025 Q 903 2953 641 2809 L 641 3341 Q 956 3463 1253 3523 Q 1550 3584 1831 3584 Q 2591 3584 2966 3190 Q 3341 2797 3341 1997 z " transform="scale(0.015625)"/> <path id="DejaVuSans-74" d="M 1172 4494 L 1172 3500 L 2356 3500 L 2356 3053 L 1172 3053 L 1172 1153 Q 1172 725 1289 603 Q 1406 481 1766 481 L 2356 481 L 2356 0 L 1766 0 Q 1100 0 847 248 Q 594 497 594 1153 L 594 3053 L 172 3053 L 172 3500 L 594 3500 L 594 4494 L 1172 4494 z " transform="scale(0.015625)"/> <path id="DejaVuSans-65" d="M 3597 1894 L 3597 1613 L 953 1613 Q 991 1019 1311 708 Q 1631 397 2203 397 Q 2534 397 2845 478 Q 3156 559 3463 722 L 3463 178 Q 3153 47 2828 -22 Q 2503 -91 2169 -91 Q 1331 -91 842 396 Q 353 884 353 1716 Q 353 2575 817 3079 Q 1281 3584 2069 3584 Q 2775 3584 3186 3129 Q 3597 2675 3597 1894 z M 3022 2063 Q 3016 2534 2758 2815 Q 2500 3097 2075 3097 Q 1594 3097 1305 2825 Q 1016 2553 972 2059 L 3022 2063 z " transform="scale(0.015625)"/> <path id="DejaVuSans-6e" d="M 3513 2113 L 3513 0 L 2938 0 L 2938 2094 Q 2938 2591 2744 2837 Q 2550 3084 2163 3084 Q 1697 3084 1428 2787 Q 1159 2491 1159 1978 L 1159 0 L 581 0 L 581 3500 L 1159 3500 L 1159 2956 Q 1366 3272 1645 3428 Q 1925 3584 2291 3584 Q 2894 3584 3203 3211 Q 3513 2838 3513 2113 z " transform="scale(0.015625)"/> <path id="DejaVuSans-63" d="M 3122 3366 L 3122 2828 Q 2878 2963 2633 3030 Q 2388 3097 2138 3097 Q 1578 3097 1268 2742 Q 959 2388 959 1747 Q 959 1106 1268 751 Q 1578 397 2138 397 Q 2388 397 2633 464 Q 2878 531 3122 666 L 3122 134 Q 2881 22 2623 -34 Q 2366 -91 2075 -91 Q 1284 -91 818 406 Q 353 903 353 1747 Q 353 2603 823 3093 Q 1294 3584 2113 3584 Q 2378 3584 2631 3529 Q 2884 3475 3122 3366 z " transform="scale(0.015625)"/> <path id="DejaVuSans-79" d="M 2059 -325 Q 1816 -950 1584 -1140 Q 1353 -1331 966 -1331 L 506 -1331 L 506 -850 L 844 -850 Q 1081 -850 1212 -737 Q 1344 -625 1503 -206 L 1606 56 L 191 3500 L 800 3500 L 1894 763 L 2988 3500 L 3597 3500 L 2059 -325 z " transform="scale(0.015625)"/> <path id="DejaVuSans-20" transform="scale(0.015625)"/> <path id="DejaVuSans-28" d="M 1984 4856 Q 1566 4138 1362 3434 Q 1159 2731 1159 2009 Q 1159 1288 1364 580 Q 1569 -128 1984 -844 L 1484 -844 Q 1016 -109 783 600 Q 550 1309 550 2009 Q 550 2706 781 3412 Q 1013 4119 1484 4856 L 1984 4856 z " transform="scale(0.015625)"/> <path id="DejaVuSans-6d" d="M 3328 2828 Q 3544 3216 3844 3400 Q 4144 3584 4550 3584 Q 5097 3584 5394 3201 Q 5691 2819 5691 2113 L 5691 0 L 5113 0 L 5113 2094 Q 5113 2597 4934 2840 Q 4756 3084 4391 3084 Q 3944 3084 3684 2787 Q 3425 2491 3425 1978 L 3425 0 L 2847 0 L 2847 2094 Q 2847 2600 2669 2842 Q 2491 3084 2119 3084 Q 1678 3084 1418 2786 Q 1159 2488 1159 1978 L 1159 0 L 581 0 L 581 3500 L 1159 3500 L 1159 2956 Q 1356 3278 1631 3431 Q 1906 3584 2284 3584 Q 2666 3584 2933 3390 Q 3200 3197 3328 2828 z " transform="scale(0.015625)"/> <path id="DejaVuSans-73" d="M 2834 3397 L 2834 2853 Q 2591 2978 2328 3040 Q 2066 3103 1784 3103 Q 1356 3103 1142 2972 Q 928 2841 928 2578 Q 928 2378 1081 2264 Q 1234 2150 1697 2047 L 1894 2003 Q 2506 1872 2764 1633 Q 3022 1394 3022 966 Q 3022 478 2636 193 Q 2250 -91 1575 -91 Q 1294 -91 989 -36 Q 684 19 347 128 L 347 722 Q 666 556 975 473 Q 1284 391 1588 391 Q 1994 391 2212 530 Q 2431 669 2431 922 Q 2431 1156 2273 1281 Q 2116 1406 1581 1522 L 1381 1569 Q 847 1681 609 1914 Q 372 2147 372 2553 Q 372 3047 722 3315 Q 1072 3584 1716 3584 Q 2034 3584 2315 3537 Q 2597 3491 2834 3397 z " transform="scale(0.015625)"/> <path id="DejaVuSans-29" d="M 513 4856 L 1013 4856 Q 1481 4119 1714 3412 Q 1947 2706 1947 2009 Q 1947 1309 1714 600 Q 1481 -109 1013 -844 L 513 -844 Q 928 -128 1133 580 Q 1338 1288 1338 2009 Q 1338 2731 1133 3434 Q 928 4138 513 4856 z " transform="scale(0.015625)"/> </defs> <use xlink:href="#DejaVuSans-4c"/> <use xlink:href="#DejaVuSans-61" x="55.712891"/> <use xlink:href="#DejaVuSans-74" x="116.992188"/> <use xlink:href="#DejaVuSans-65" x="156.201172"/> <use xlink:href="#DejaVuSans-6e" x="217.724609"/> <use xlink:href="#DejaVuSans-63" x="281.103516"/> <use xlink:href="#DejaVuSans-79" x="336.083984"/> <use xlink:href="#DejaVuSans-20" x="395.263672"/> <use xlink:href="#DejaVuSans-28" x="427.050781"/> <use xlink:href="#DejaVuSans-6d" x="466.064453"/> <use xlink:href="#DejaVuSans-73" x="563.476562"/> <use xlink:href="#DejaVuSans-29" x="615.576172"/> </g> </g> </g> <g id="matplotlib.axis_2"> <g id="ytick_1"> <g id="text_2"> <!-- dora --> <g style="fill: #ffffff" transform="translate(42.29375 46.279219) scale(0.1 -0.1)"> <defs> <path id="DejaVuSans-64" d="M 2906 2969 L 2906 4863 L 3481 4863 L 3481 0 L 2906 0 L 2906 525 Q 2725 213 2448 61 Q 2172 -91 1784 -91 Q 1150 -91 751 415 Q 353 922 353 1747 Q 353 2572 751 3078 Q 1150 3584 1784 3584 Q 2172 3584 2448 3432 Q 2725 3281 2906 2969 z M 947 1747 Q 947 1113 1208 752 Q 1469 391 1925 391 Q 2381 391 2643 752 Q 2906 1113 2906 1747 Q 2906 2381 2643 2742 Q 2381 3103 1925 3103 Q 1469 3103 1208 2742 Q 947 2381 947 1747 z " transform="scale(0.015625)"/> <path id="DejaVuSans-6f" d="M 1959 3097 Q 1497 3097 1228 2736 Q 959 2375 959 1747 Q 959 1119 1226 758 Q 1494 397 1959 397 Q 2419 397 2687 759 Q 2956 1122 2956 1747 Q 2956 2369 2687 2733 Q 2419 3097 1959 3097 z M 1959 3584 Q 2709 3584 3137 3096 Q 3566 2609 3566 1747 Q 3566 888 3137 398 Q 2709 -91 1959 -91 Q 1206 -91 779 398 Q 353 888 353 1747 Q 353 2609 779 3096 Q 1206 3584 1959 3584 z " transform="scale(0.015625)"/> <path id="DejaVuSans-72" d="M 2631 2963 Q 2534 3019 2420 3045 Q 2306 3072 2169 3072 Q 1681 3072 1420 2755 Q 1159 2438 1159 1844 L 1159 0 L 581 0 L 581 3500 L 1159 3500 L 1159 2956 Q 1341 3275 1631 3429 Q 1922 3584 2338 3584 Q 2397 3584 2469 3576 Q 2541 3569 2628 3553 L 2631 2963 z " transform="scale(0.015625)"/> </defs> <use xlink:href="#DejaVuSans-64"/> <use xlink:href="#DejaVuSans-6f" x="63.476562"/> <use xlink:href="#DejaVuSans-72" x="124.658203"/> <use xlink:href="#DejaVuSans-61" x="165.771484"/> </g> </g> </g> <g id="ytick_2"> <g id="text_3"> <!-- ros2 --> <g style="fill: #ffffff" transform="translate(43.423437 106.759219) scale(0.1 -0.1)"> <defs> <path id="DejaVuSans-32" d="M 1228 531 L 3431 531 L 3431 0 L 469 0 L 469 531 Q 828 903 1448 1529 Q 2069 2156 2228 2338 Q 2531 2678 2651 2914 Q 2772 3150 2772 3378 Q 2772 3750 2511 3984 Q 2250 4219 1831 4219 Q 1534 4219 1204 4116 Q 875 4013 500 3803 L 500 4441 Q 881 4594 1212 4672 Q 1544 4750 1819 4750 Q 2544 4750 2975 4387 Q 3406 4025 3406 3419 Q 3406 3131 3298 2873 Q 3191 2616 2906 2266 Q 2828 2175 2409 1742 Q 1991 1309 1228 531 z " transform="scale(0.015625)"/> </defs> <use xlink:href="#DejaVuSans-72"/> <use xlink:href="#DejaVuSans-6f" x="38.863281"/> <use xlink:href="#DejaVuSans-73" x="100.044922"/> <use xlink:href="#DejaVuSans-32" x="152.144531"/> </g> </g> </g> </g> <g id="text_4"> <!-- 8.9 --> <g style="fill: #ffffff" transform="translate(99.600549 45.239375) scale(0.1 -0.1)"> <defs> <path id="DejaVuSans-38" d="M 2034 2216 Q 1584 2216 1326 1975 Q 1069 1734 1069 1313 Q 1069 891 1326 650 Q 1584 409 2034 409 Q 2484 409 2743 651 Q 3003 894 3003 1313 Q 3003 1734 2745 1975 Q 2488 2216 2034 2216 z M 1403 2484 Q 997 2584 770 2862 Q 544 3141 544 3541 Q 544 4100 942 4425 Q 1341 4750 2034 4750 Q 2731 4750 3128 4425 Q 3525 4100 3525 3541 Q 3525 3141 3298 2862 Q 3072 2584 2669 2484 Q 3125 2378 3379 2068 Q 3634 1759 3634 1313 Q 3634 634 3220 271 Q 2806 -91 2034 -91 Q 1263 -91 848 271 Q 434 634 434 1313 Q 434 1759 690 2068 Q 947 2378 1403 2484 z M 1172 3481 Q 1172 3119 1398 2916 Q 1625 2713 2034 2713 Q 2441 2713 2670 2916 Q 2900 3119 2900 3481 Q 2900 3844 2670 4047 Q 2441 4250 2034 4250 Q 1625 4250 1398 4047 Q 1172 3844 1172 3481 z " transform="scale(0.015625)"/> <path id="DejaVuSans-2e" d="M 684 794 L 1344 794 L 1344 0 L 684 0 L 684 794 z " transform="scale(0.015625)"/> <path id="DejaVuSans-39" d="M 703 97 L 703 672 Q 941 559 1184 500 Q 1428 441 1663 441 Q 2288 441 2617 861 Q 2947 1281 2994 2138 Q 2813 1869 2534 1725 Q 2256 1581 1919 1581 Q 1219 1581 811 2004 Q 403 2428 403 3163 Q 403 3881 828 4315 Q 1253 4750 1959 4750 Q 2769 4750 3195 4129 Q 3622 3509 3622 2328 Q 3622 1225 3098 567 Q 2575 -91 1691 -91 Q 1453 -91 1209 -44 Q 966 3 703 97 z M 1959 2075 Q 2384 2075 2632 2365 Q 2881 2656 2881 3163 Q 2881 3666 2632 3958 Q 2384 4250 1959 4250 Q 1534 4250 1286 3958 Q 1038 3666 1038 3163 Q 1038 2656 1286 2365 Q 1534 2075 1959 2075 z " transform="scale(0.015625)"/> </defs> <use xlink:href="#DejaVuSans-38"/> <use xlink:href="#DejaVuSans-2e" x="63.623047"/> <use xlink:href="#DejaVuSans-39" x="95.410156"/> </g> </g> <g id="text_5"> <!-- 153.1 --> <g style="fill: #ffffff" transform="translate(499.919572 105.719375) scale(0.1 -0.1)"> <defs> <path id="DejaVuSans-31" d="M 794 531 L 1825 531 L 1825 4091 L 703 3866 L 703 4441 L 1819 4666 L 2450 4666 L 2450 531 L 3481 531 L 3481 0 L 794 0 L 794 531 z " transform="scale(0.015625)"/> <path id="DejaVuSans-35" d="M 691 4666 L 3169 4666 L 3169 4134 L 1269 4134 L 1269 2991 Q 1406 3038 1543 3061 Q 1681 3084 1819 3084 Q 2600 3084 3056 2656 Q 3513 2228 3513 1497 Q 3513 744 3044 326 Q 2575 -91 1722 -91 Q 1428 -91 1123 -41 Q 819 9 494 109 L 494 744 Q 775 591 1075 516 Q 1375 441 1709 441 Q 2250 441 2565 725 Q 2881 1009 2881 1497 Q 2881 1984 2565 2268 Q 2250 2553 1709 2553 Q 1456 2553 1204 2497 Q 953 2441 691 2322 L 691 4666 z " transform="scale(0.015625)"/> <path id="DejaVuSans-33" d="M 2597 2516 Q 3050 2419 3304 2112 Q 3559 1806 3559 1356 Q 3559 666 3084 287 Q 2609 -91 1734 -91 Q 1441 -91 1130 -33 Q 819 25 488 141 L 488 750 Q 750 597 1062 519 Q 1375 441 1716 441 Q 2309 441 2620 675 Q 2931 909 2931 1356 Q 2931 1769 2642 2001 Q 2353 2234 1838 2234 L 1294 2234 L 1294 2753 L 1863 2753 Q 2328 2753 2575 2939 Q 2822 3125 2822 3475 Q 2822 3834 2567 4026 Q 2313 4219 1838 4219 Q 1578 4219 1281 4162 Q 984 4106 628 3988 L 628 4550 Q 988 4650 1302 4700 Q 1616 4750 1894 4750 Q 2613 4750 3031 4423 Q 3450 4097 3450 3541 Q 3450 3153 3228 2886 Q 3006 2619 2597 2516 z " transform="scale(0.015625)"/> </defs> <use xlink:href="#DejaVuSans-31"/> <use xlink:href="#DejaVuSans-35" x="63.623047"/> <use xlink:href="#DejaVuSans-33" x="127.246094"/> <use xlink:href="#DejaVuSans-2e" x="190.869141"/> <use xlink:href="#DejaVuSans-31" x="222.65625"/> </g> </g> </g> </g> <defs> <clipPath id="p9bd4d5c8bd"> <rect x="72" y="17.28" width="446.4" height="110.88"/> </clipPath> </defs> </svg>