From 3231e5a8121e8a81c71f53fd3a0619552fbbbc02 Mon Sep 17 00:00:00 2001
From: CihatAltiparmak <cihataltiparmak1@gmail.com>
Date: Mon, 19 Aug 2024 16:49:10 +0300
Subject: [PATCH 01/13] Added blog for GSOC'24 :Zenoh Support & Benchmarking

---
 CNAME                                         |   2 +-
 ...soc-zenoh-support-and-benchmarking-blog.md |  87 ++++++++++++++++++
 .../scenario_basic_topic_sub_pub_blog.png     | Bin 0 -> 21537 bytes
 .../scenario_moveit_task_constructor_blog.png | Bin 0 -> 23369 bytes
 .../scenario_perception_pipeline_blog.png     | Bin 0 -> 20529 bytes
 5 files changed, 88 insertions(+), 1 deletion(-)
 create mode 100644 _posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md
 create mode 100644 assets/images/gsoc24/scenario_basic_topic_sub_pub_blog.png
 create mode 100644 assets/images/gsoc24/scenario_moveit_task_constructor_blog.png
 create mode 100644 assets/images/gsoc24/scenario_perception_pipeline_blog.png

diff --git a/CNAME b/CNAME
index 802179af4..b75d41b94 100644
--- a/CNAME
+++ b/CNAME
@@ -1 +1 @@
-moveit.ros.org
\ No newline at end of file
+moveit.ros.org
diff --git a/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md b/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md
new file mode 100644
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--- /dev/null
+++ b/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md
@@ -0,0 +1,87 @@
+---
+comments: false
+date: 2024-08-19
+author: Cihat Kurtuluş Altıparmak, Computer Engineering Undergraduate Student at the Istanbul Technical University
+layout: post
+title: "Google Summer of Code : Zenoh Support & Benchmarking"
+media_type: image
+media_link: /assets/images/blog_posts/GSoc2024.jpg
+description: "We've completed our project titled "Zenoh Support & Benchmarking". With this project, we could try to understand how to be used rmw_zenoh in MoveIt2 project and how rmw_zenoh affects MoveIt2's workflow. "
+categories:
+- MoveIt
+- GSoC
+---
+
+We've completed our project titled "Zenoh Support & Benchmarking". With this project, we could try to understand how to be used rmw_zenoh in MoveIt2 project and how rmw_zenoh affects MoveIt2's workflow. 
+
+## Movitation
+
+The aims of this Google Summer of Code Project was to make [rmw_zenoh_cpp](https://github.com/ros2/rmw_zenoh) enable, benchmark the midlewares such as rmw_cyclonedds and rmw_fastrtps against some scenarios from complex robotic problems like trajectory planning and task planning to basic ROS works like basic topic subscription-publishing, service-client operations, report the found bugs to rmw_zenoh team and configure CI in a way that rmw_zenoh can be supported.
+
+rmw_zenoh comes to the fore with some exciting features like configurability with elastic topologies, supporting a lot of protocol such as TCP, UDP, usable at WIFI networks even though it's still in development phase. 
+
+## Progress
+**Integration to Moveit2**
+
+Even if we couldn't run moveit2 with rmw_zenoh due to data races inside `rmw_wait` function in the starting of GSoC project, which bring about some problems in Multithreaded Executor, we could run MoveIt2 with rmw_zenoh after some bug-fixes for `rmw_wait` function in the middle of GSoC project period. Even if rmw_zenoh has some problems and is in development progress, you can run MoveIt2 using rmw_zenoh middleware. Additionaly, rmw_zenoh has some pretty good potential so that you can get approximately as same performance as rmw_fastrtps even if rmw_zenoh is used TCP protocol by default, you can help for rmw_zenoh team to completed and find the bugs!
+
+**Benchmarking**
+
+During this summer, the middleware benchmarking tool is created to compare the middlewares such as rmw_zenoh, rmw_cyclonedds and rmw_fastrtps. Some scenarios are implemented for measuring how the middlewares affect in some scenarios in robotics. Here is our middleware benhmarking tool : [moveit_middleware_bechmark](https://github.com/CihatAltiparmak/moveit_middleware_benchmark).
+
+Some of scenarios are:
+
+- Basic Service-Client Works
+- Basic Topic Subscription-Publishing
+- Perception Pipeline
+- MoveIt Task Constructor
+
+**Bugs in rmw_zenoh**
+
+It's also reported some bugs in a case of catching it. These are 
+
+- https://github.com/ros2/rmw_zenoh/issues/257
+- https://github.com/ros2/rmw_zenoh/issues/240
+- https://github.com/ros2/rmw_zenoh/issues/251
+- https://github.com/ros2/rmw_zenoh/issues/186
+
+It's also contributed to rmw_zenoh.
+
+- https://github.com/ros2/rmw_zenoh/pull/252
+
+I also have two open PRs in rmw_zenoh repository.
+
+- https://github.com/ros2/rmw_zenoh/pull/255
+- https://github.com/ros2/rmw_zenoh/pull/256
+
+**Conducting Benchmarks in CI**
+
+Additionaly, the website for visualization of bechmark results created so that it's also configurable with CI.
+
+Finaly, the benchmarks have been conducted in a way to give the reliable comparisons in github-actions and the results are visualized in website.
+
+**Contributions to MoveIt During GSoC Project
+- https://github.com/moveit/moveit2/pull/2963
+- https://github.com/moveit/moveit2/pull/2834
+- https://github.com/moveit/moveit2_tutorials/pull/906
+- https://github.com/moveit/moveit2_tutorials/pull/944
+
+## Achievements
+
+We have benchmarked the middlewares against various scenarios and we have found below benchmark results. We have used default configurations of rmw_zenoh except the fact that we configured some tcp settings like below:
+
+```sh
+sudo sysctl -w "net.ipv4.tcp_rmem=4096 4096 4096"
+sudo sysctl -w "net.ipv4.tcp_wmem=4096 4096 4096"
+sudo sysctl -w "net.ipv4.tcp_mem=4096 4096 4096"
+```
+
+![scenario_perception_pipeline](../assets/images/gsoc24/scenario_perception_pipeline_blog.png)
+
+![scenario_moveit_task_constructor](../assets/images/gsoc24/scenario_moveit_task_constructor_blog.png)
+
+![scenario_basic_topic_sub_pub](../assets/images/gsoc24/scenario_basic_topic_sub_pub_blog.png)
+
+## Additional
+
+Hearfelt thank you goes to my mentors [Sebastian Jahr](https://github.com/sjahr) and [Henning Kayser](https://github.com/henningkayser). An other thanks goes to [Julien Enoch](https://github.com/JEnoch) and [Zenoh Community](https://zenoh.io/community/) for trying our middleware benchmark tool and giving valuable feedbacks to us. Without valuable helps of [Zenoh Community](https://zenoh.io/community/), we couldn't complete this project.
diff --git a/assets/images/gsoc24/scenario_basic_topic_sub_pub_blog.png b/assets/images/gsoc24/scenario_basic_topic_sub_pub_blog.png
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From 52b31d270eacd21cf4cc2a4b099784c380c055b3 Mon Sep 17 00:00:00 2001
From: CihatAltiparmak <cihataltiparmak1@gmail.com>
Date: Mon, 19 Aug 2024 16:53:24 +0300
Subject: [PATCH 02/13] pre-commit fix

---
 ...-19-gsoc-zenoh-support-and-benchmarking-blog.md | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md b/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md
index a8623af7e..bffb5d06d 100644
--- a/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md
+++ b/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md
@@ -12,18 +12,18 @@ categories:
 - GSoC
 ---
 
-We've completed our project titled "Zenoh Support & Benchmarking". With this project, we could try to understand how to be used rmw_zenoh in MoveIt2 project and how rmw_zenoh affects MoveIt2's workflow. 
+We've completed our project titled "Zenoh Support & Benchmarking". With this project, we could try to understand how to be used rmw_zenoh in MoveIt2 project and how rmw_zenoh affects MoveIt2's workflow.
 
 ## Movitation
 
 The aims of this Google Summer of Code Project was to make [rmw_zenoh_cpp](https://github.com/ros2/rmw_zenoh) enable, benchmark the midlewares such as rmw_cyclonedds and rmw_fastrtps against some scenarios from complex robotic problems like trajectory planning and task planning to basic ROS works like basic topic subscription-publishing, service-client operations, report the found bugs to rmw_zenoh team and configure CI in a way that rmw_zenoh can be supported.
 
-rmw_zenoh comes to the fore with some exciting features like configurability with elastic topologies, supporting a lot of protocol such as TCP, UDP, usable at WIFI networks even though it's still in development phase. 
+rmw_zenoh comes to the fore with some exciting features like configurability with elastic topologies, supporting a lot of protocol such as TCP, UDP, usable at WIFI networks even though it's still in development phase.
 
 ## Progress
 **Integration to Moveit2**
 
-Even if we couldn't run moveit2 with rmw_zenoh due to data races inside `rmw_wait` function in the starting of GSoC project, which bring about some problems in Multithreaded Executor, we could run MoveIt2 with rmw_zenoh after some bug-fixes for `rmw_wait` function in the middle of GSoC project period. Even if rmw_zenoh has some problems and is in development progress, you can run MoveIt2 using rmw_zenoh middleware. Additionaly, rmw_zenoh has some pretty good potential so that you can get approximately as same performance as rmw_fastrtps even if rmw_zenoh is used TCP protocol by default, you can help for rmw_zenoh team to completed and find the bugs!
+Even if we couldn't run moveit2 with rmw_zenoh due to data races inside `rmw_wait` function in the starting of GSoC project, which bring about some problems in Multithreaded Executor, we could run MoveIt2 with rmw_zenoh after some bug-fixes for `rmw_wait` function in the middle of GSoC project period. Even if rmw_zenoh has some problems and is in development progress, you can run MoveIt2 using rmw_zenoh middleware. Additionally, rmw_zenoh has some pretty good potential so that you can get approximately as same performance as rmw_fastrtps even if rmw_zenoh is used TCP protocol by default, you can help for rmw_zenoh team to completed and find the bugs!
 
 **Benchmarking**
 
@@ -38,7 +38,7 @@ Some of scenarios are:
 
 **Bugs in rmw_zenoh**
 
-It's also reported some bugs in a case of catching it. These are 
+It's also reported some bugs in a case of catching it. These are
 
 - https://github.com/ros2/rmw_zenoh/issues/257
 - https://github.com/ros2/rmw_zenoh/issues/240
@@ -56,9 +56,9 @@ I also have two open PRs in rmw_zenoh repository.
 
 **Conducting Benchmarks in CI**
 
-Additionaly, the website for visualization of bechmark results created so that it's also configurable with CI.
+Additionally, the website for visualization of benchmark results created so that it's also configurable with CI.
 
-Finaly, the benchmarks have been conducted in a way to give the reliable comparisons in github-actions and the results are visualized in website.
+Finally, the benchmarks have been conducted in a way to give the reliable comparisons in github-actions and the results are visualized in website.
 
 **Contributions to MoveIt During GSoC Project
 - https://github.com/moveit/moveit2/pull/2963
@@ -84,4 +84,4 @@ sudo sysctl -w "net.ipv4.tcp_mem=4096 4096 4096"
 
 ## Additional
 
-Hearfelt thank you goes to my mentors [Sebastian Jahr](https://github.com/sjahr) and [Henning Kayser](https://github.com/henningkayser). An other thanks goes to [Julien Enoch](https://github.com/JEnoch) and [Zenoh Community](https://zenoh.io/community/) for trying our middleware benchmark tool and giving valuable feedbacks to us. Without valuable helps of [Zenoh Community](https://zenoh.io/community/), we couldn't complete this project.
+THe heartfelt thank you goes to my mentors [Sebastian Jahr](https://github.com/sjahr) and [Henning Kayser](https://github.com/henningkayser). An other thanks goes to [Julien Enoch](https://github.com/JEnoch) and [Zenoh Community](https://zenoh.io/community/) for trying our middleware benchmark tool and giving valuable feedbacks to us. Without valuable helps of [Zenoh Community](https://zenoh.io/community/), we couldn't complete this project.

From 73a20149b75cf3464c5652d5064a819797f6d860 Mon Sep 17 00:00:00 2001
From: CihatAltiparmak <cihataltiparmak1@gmail.com>
Date: Mon, 19 Aug 2024 16:59:15 +0300
Subject: [PATCH 03/13] some additional content

---
 .../2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md  | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md b/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md
index bffb5d06d..32004f901 100644
--- a/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md
+++ b/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md
@@ -6,7 +6,7 @@ layout: post
 title: "Google Summer of Code : Zenoh Support & Benchmarking"
 media_type: image
 media_link: /assets/images/blog_posts/GSoc2024.jpg
-description: "We've completed our project titled "Zenoh Support & Benchmarking". With this project, we could try to understand how to be used rmw_zenoh in MoveIt2 project and how rmw_zenoh affects MoveIt2's workflow. "
+description: "We've completed our project titled \"Zenoh Support & Benchmarking\". With this project, we could try to understand how to be used rmw_zenoh in MoveIt2 project and how rmw_zenoh affects MoveIt2's workflow. "
 categories:
 - MoveIt
 - GSoC
@@ -16,9 +16,9 @@ We've completed our project titled "Zenoh Support & Benchmarking". With this pro
 
 ## Movitation
 
-The aims of this Google Summer of Code Project was to make [rmw_zenoh_cpp](https://github.com/ros2/rmw_zenoh) enable, benchmark the midlewares such as rmw_cyclonedds and rmw_fastrtps against some scenarios from complex robotic problems like trajectory planning and task planning to basic ROS works like basic topic subscription-publishing, service-client operations, report the found bugs to rmw_zenoh team and configure CI in a way that rmw_zenoh can be supported.
+The aims of this Google Summer of Code Project was to make [rmw_zenoh_cpp](https://github.com/ros2/rmw_zenoh) enable for MoveIt2, benchmark the midlewares such as rmw_cyclonedds and rmw_fastrtps against some scenarios from complex robotic problems like trajectory planning and task planning to basic ROS works like basic topic subscription-publishing, service-client operations, report the found bugs to rmw_zenoh team and configure CI in a way that rmw_zenoh can be supported.
 
-rmw_zenoh comes to the fore with some exciting features like configurability with elastic topologies, supporting a lot of protocol such as TCP, UDP, usable at WIFI networks even though it's still in development phase.
+rmw_zenoh comes to the fore with some exciting features like configurability with elastic topologies, supporting a lot of protocol such as TCP, UDP and usable at WIFI networks compared to DDS based middlewares even though it's still in development phase.
 
 ## Progress
 **Integration to Moveit2**

From 9a8d93a922b1c8a4d519f1cbc685c0f7d45c1c1e Mon Sep 17 00:00:00 2001
From: CihatAltiparmak <cihataltiparmak1@gmail.com>
Date: Mon, 26 Aug 2024 08:56:36 +0300
Subject: [PATCH 04/13] Update and rename
 2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md to
 2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md

---
 ....md => 2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename _posts/{2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md => 2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md} (100%)

diff --git a/_posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
similarity index 100%
rename from _posts/2024-08-19-gsoc-zenoh-support-and-benchmarking-blog.md
rename to _posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md

From 1ff999deacd48f0316d241bd41a556249a619cf7 Mon Sep 17 00:00:00 2001
From: CihatAltiparmak <cihataltiparmak1@gmail.com>
Date: Mon, 26 Aug 2024 09:02:02 +0300
Subject: [PATCH 05/13] Updated outdated information

---
 _posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
index 32004f901..fc42c7a4b 100644
--- a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
+++ b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
@@ -48,9 +48,6 @@ It's also reported some bugs in a case of catching it. These are
 It's also contributed to rmw_zenoh.
 
 - https://github.com/ros2/rmw_zenoh/pull/252
-
-I also have two open PRs in rmw_zenoh repository.
-
 - https://github.com/ros2/rmw_zenoh/pull/255
 - https://github.com/ros2/rmw_zenoh/pull/256
 

From a8bbdbc6401bb32755b32e0556f3e0a6f25a4a70 Mon Sep 17 00:00:00 2001
From: CihatAltiparmak <cihataltiparmak1@gmail.com>
Date: Mon, 26 Aug 2024 09:02:26 +0300
Subject: [PATCH 06/13] Fixed typo

---
 _posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
index fc42c7a4b..a19bf5d43 100644
--- a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
+++ b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
@@ -81,4 +81,4 @@ sudo sysctl -w "net.ipv4.tcp_mem=4096 4096 4096"
 
 ## Additional
 
-THe heartfelt thank you goes to my mentors [Sebastian Jahr](https://github.com/sjahr) and [Henning Kayser](https://github.com/henningkayser). An other thanks goes to [Julien Enoch](https://github.com/JEnoch) and [Zenoh Community](https://zenoh.io/community/) for trying our middleware benchmark tool and giving valuable feedbacks to us. Without valuable helps of [Zenoh Community](https://zenoh.io/community/), we couldn't complete this project.
+The heartfelt thank you goes to my mentors [Sebastian Jahr](https://github.com/sjahr) and [Henning Kayser](https://github.com/henningkayser). An other thanks goes to [Julien Enoch](https://github.com/JEnoch) and [Zenoh Community](https://zenoh.io/community/) for trying our middleware benchmark tool and giving valuable feedbacks to us. Without valuable helps of [Zenoh Community](https://zenoh.io/community/), we couldn't complete this project.

From 75efae2705798a76b0b61beb861caae4a40060e0 Mon Sep 17 00:00:00 2001
From: CihatAltiparmak <cihataltiparmak1@gmail.com>
Date: Mon, 26 Aug 2024 10:56:26 +0300
Subject: [PATCH 07/13] Update
 2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md

---
 ...024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
index a19bf5d43..d5d4ff051 100644
--- a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
+++ b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
@@ -68,9 +68,18 @@ Finally, the benchmarks have been conducted in a way to give the reliable compar
 We have benchmarked the middlewares against various scenarios and we have found below benchmark results. We have used default configurations of rmw_zenoh except the fact that we configured some tcp settings like below:
 
 ```sh
+# for rmw_zenoh
 sudo sysctl -w "net.ipv4.tcp_rmem=4096 4096 4096"
 sudo sysctl -w "net.ipv4.tcp_wmem=4096 4096 4096"
 sudo sysctl -w "net.ipv4.tcp_mem=4096 4096 4096"
+
+# for all middlewares
+sudo sysctl -w net.ipv4.udp_mem="102400 873800 16777216"
+sudo sysctl -w net.core.netdev_max_backlog="30000"
+sudo sysctl -w net.core.rmem_max="20971520"
+sudo sysctl -w net.core.wmem_max="20971520"
+sudo sysctl -w net.core.rmem_default="20971520"
+sudo sysctl -w net.core.wmem_default="20971520"
 ```
 
 ![scenario_perception_pipeline](../assets/images/gsoc24/scenario_perception_pipeline_blog.png)

From ac20a15910a33f065c4652f36b845baa1a31fa55 Mon Sep 17 00:00:00 2001
From: CihatAltiparmak <cihataltiparmak1@gmail.com>
Date: Mon, 26 Aug 2024 11:13:20 +0300
Subject: [PATCH 08/13] Modified images and added new content

---
 ...SoC-2024-Zenoh-Support-and-Benchmarking.md |  20 ++++++++++++------
 .../scenario_basic_service_client_blog.png    | Bin 0 -> 23931 bytes
 .../scenario_basic_topic_sub_pub_blog.png     | Bin 21537 -> 25894 bytes
 .../scenario_moveit_task_constructor_blog.png | Bin 23369 -> 22564 bytes
 .../scenario_perception_pipeline_blog.png     | Bin 20529 -> 21543 bytes
 5 files changed, 13 insertions(+), 7 deletions(-)
 create mode 100644 assets/images/gsoc24/scenario_basic_service_client_blog.png

diff --git a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
index d5d4ff051..d44a2e977 100644
--- a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
+++ b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
@@ -57,7 +57,7 @@ Additionally, the website for visualization of benchmark results created so that
 
 Finally, the benchmarks have been conducted in a way to give the reliable comparisons in github-actions and the results are visualized in website.
 
-**Contributions to MoveIt During GSoC Project
+**Contributions to MoveIt During GSoC Project**
 - https://github.com/moveit/moveit2/pull/2963
 - https://github.com/moveit/moveit2/pull/2834
 - https://github.com/moveit/moveit2_tutorials/pull/906
@@ -69,9 +69,9 @@ We have benchmarked the middlewares against various scenarios and we have found
 
 ```sh
 # for rmw_zenoh
-sudo sysctl -w "net.ipv4.tcp_rmem=4096 4096 4096"
-sudo sysctl -w "net.ipv4.tcp_wmem=4096 4096 4096"
-sudo sysctl -w "net.ipv4.tcp_mem=4096 4096 4096"
+sudo sysctl -w "net.ipv4.tcp_rmem=102400 102400 102400"
+sudo sysctl -w "net.ipv4.tcp_wmem=102400 102400 102400"
+sudo sysctl -w "net.ipv4.tcp_mem=102400 102400 102400"
 
 # for all middlewares
 sudo sysctl -w net.ipv4.udp_mem="102400 873800 16777216"
@@ -82,11 +82,17 @@ sudo sysctl -w net.core.rmem_default="20971520"
 sudo sysctl -w net.core.wmem_default="20971520"
 ```
 
-![scenario_perception_pipeline](../assets/images/gsoc24/scenario_perception_pipeline_blog.png)
+![scenario_perception_pipeline](/assets/images/gsoc24/scenario_perception_pipeline_blog.png)
 
-![scenario_moveit_task_constructor](../assets/images/gsoc24/scenario_moveit_task_constructor_blog.png)
+![scenario_moveit_task_constructor](/assets/images/gsoc24/scenario_moveit_task_constructor_blog.png)
 
-![scenario_basic_topic_sub_pub](../assets/images/gsoc24/scenario_basic_topic_sub_pub_blog.png)
+![scenario_basic_topic_sub_pub](/assets/images/gsoc24/scenario_basic_topic_sub_pub_blog.png)
+
+![scenario_basic_service_client](/assets/images/gsoc24/scenario_basic_service_client_blog.png)
+
+## Conclusion
+
+It was an exciting progress for me. I've contributed a lot of open source project in this period and i've learnt a lot from my works and my mentors's showing the way during Google Summer of Code. I strongly suggest you to join Google Summer of Code Program, especially in MoveIt organization side for those who interested in robotics. After this Google Summer of Code works, i'm willing to continue this project.
 
 ## Additional
 
diff --git a/assets/images/gsoc24/scenario_basic_service_client_blog.png b/assets/images/gsoc24/scenario_basic_service_client_blog.png
new file mode 100644
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diff --git a/assets/images/gsoc24/scenario_moveit_task_constructor_blog.png b/assets/images/gsoc24/scenario_moveit_task_constructor_blog.png
index 2cb3f7b0e29aae59488f0ab11f8201df795b7734..7a29df74a1ef9a7d0a2ecd49a3a4ff7e0c0ac511 100644
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From c9051f87cf4a69f73f4480f6e49eafb6209d3eec Mon Sep 17 00:00:00 2001
From: CihatAltiparmak <cihataltiparmak1@gmail.com>
Date: Mon, 26 Aug 2024 11:31:25 +0300
Subject: [PATCH 09/13] Added necessary script

---
 ...SoC-2024-Zenoh-Support-and-Benchmarking.md |   2 +-
 .../scenario_basic_topic_sub_pub_blog.png     | Bin 25894 -> 26086 bytes
 .../scenario_perception_pipeline_blog.png     | Bin 21543 -> 26176 bytes
 3 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
index d44a2e977..7e5a3085e 100644
--- a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
+++ b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
@@ -65,7 +65,7 @@ Finally, the benchmarks have been conducted in a way to give the reliable compar
 
 ## Achievements
 
-We have benchmarked the middlewares against various scenarios and we have found below benchmark results. We have used default configurations of rmw_zenoh except the fact that we configured some tcp settings like below:
+We have benchmarked the middlewares against various scenarios using [this script](https://github.com/CihatAltiparmak/moveit_middleware_benchmark/blob/24-Aug-2024-demonstration/scripts/run_all_benchmarks.sh) and we have found below benchmark results. We have used default configurations of rmw_zenoh except the fact that we configured some tcp settings like below:
 
 ```sh
 # for rmw_zenoh
diff --git a/assets/images/gsoc24/scenario_basic_topic_sub_pub_blog.png b/assets/images/gsoc24/scenario_basic_topic_sub_pub_blog.png
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From 45fa22d82cc8cb67bc67718ee41de114ee7a2e94 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Mon, 2 Sep 2024 17:04:26 +0200
Subject: [PATCH 10/13] Improve some grammar and wordings

---
 ...SoC-2024-Zenoh-Support-and-Benchmarking.md | 27 ++++++++++---------
 1 file changed, 14 insertions(+), 13 deletions(-)

diff --git a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
index 7e5a3085e..9c6946ce0 100644
--- a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
+++ b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
@@ -12,24 +12,24 @@ categories:
 - GSoC
 ---
 
-We've completed our project titled "Zenoh Support & Benchmarking". With this project, we could try to understand how to be used rmw_zenoh in MoveIt2 project and how rmw_zenoh affects MoveIt2's workflow.
+We've completed our project titled "Zenoh Support & Benchmarking". With this project, investigated how rmw_zenoh would be used in MoveIt 2 and how rmw_zenoh would affect MoveIt's runtime performance.
 
 ## Movitation
 
-The aims of this Google Summer of Code Project was to make [rmw_zenoh_cpp](https://github.com/ros2/rmw_zenoh) enable for MoveIt2, benchmark the midlewares such as rmw_cyclonedds and rmw_fastrtps against some scenarios from complex robotic problems like trajectory planning and task planning to basic ROS works like basic topic subscription-publishing, service-client operations, report the found bugs to rmw_zenoh team and configure CI in a way that rmw_zenoh can be supported.
+The goal of this Google Summer of Code Project was to make [rmw_zenoh_cpp](https://github.com/ros2/rmw_zenoh) available for MoveIt 2, benchmark the different midlewares such as rmw_cyclonedds and rmw_fastrtps against scenarios from complex robotic problems, ranging from trajectory planning and task planning to basic ROS works like basic topic subscription-publishing, and service-client operations. In addition we reported the found bugs to the rmw_zenoh project and implemented a CI configuration that supports testing rmw_zenoh.
 
-rmw_zenoh comes to the fore with some exciting features like configurability with elastic topologies, supporting a lot of protocol such as TCP, UDP and usable at WIFI networks compared to DDS based middlewares even though it's still in development phase.
+rmw_zenoh comes to the fore with some exciting features like configurability with elastic topologies, supporting a lot of protocols such as TCP, UDP, making it promising in WIFI networks compared to other DDS based middlewares, even though it's still in development phase.
 
 ## Progress
-**Integration to Moveit2**
+**Integration to Moveit 2**
 
-Even if we couldn't run moveit2 with rmw_zenoh due to data races inside `rmw_wait` function in the starting of GSoC project, which bring about some problems in Multithreaded Executor, we could run MoveIt2 with rmw_zenoh after some bug-fixes for `rmw_wait` function in the middle of GSoC project period. Even if rmw_zenoh has some problems and is in development progress, you can run MoveIt2 using rmw_zenoh middleware. Additionally, rmw_zenoh has some pretty good potential so that you can get approximately as same performance as rmw_fastrtps even if rmw_zenoh is used TCP protocol by default, you can help for rmw_zenoh team to completed and find the bugs!
+Initially, we couldn't run MoveIt with rmw_zenoh due to data races inside the `rmw_wait` function, which brought about some problems in the Multithreaded Executor. We were able to resolve these issues in the middle of the GSoC project period, enabling MoveIt support for the rmw_zenoh middleware. With that, rmw_zenoh showed some pretty good potential with approximately the same performance as rmw_fastrtps, even if rmw_zenoh is running the TCP protocol by default. Unfortunately, there are still several issues that we found and reported, and it's up to the community and rmw_zenoh development team to finding solutions and improvements for them.
 
 **Benchmarking**
 
-During this summer, the middleware benchmarking tool is created to compare the middlewares such as rmw_zenoh, rmw_cyclonedds and rmw_fastrtps. Some scenarios are implemented for measuring how the middlewares affect in some scenarios in robotics. Here is our middleware benhmarking tool : [moveit_middleware_bechmark](https://github.com/CihatAltiparmak/moveit_middleware_benchmark).
+During this summer, the middleware benchmarking tool has been implemented to compare the different middlewares including rmw_zenoh, rmw_cyclonedds and rmw_fastrtps. Several scenarios have been implemented for measuring how the middlewares affects performance in typical robotics use cases. You can find the middleware benhmarking tool here: [moveit_middleware_bechmark](https://github.com/CihatAltiparmak/moveit_middleware_benchmark).
 
-Some of scenarios are:
+The implemented test scenarios include:
 
 - Basic Service-Client Works
 - Basic Topic Subscription-Publishing
@@ -38,14 +38,14 @@ Some of scenarios are:
 
 **Bugs in rmw_zenoh**
 
-It's also reported some bugs in a case of catching it. These are
+Below is a list of partially unresolved issues that came up during the GSoC project work,
 
 - https://github.com/ros2/rmw_zenoh/issues/257
 - https://github.com/ros2/rmw_zenoh/issues/240
 - https://github.com/ros2/rmw_zenoh/issues/251
 - https://github.com/ros2/rmw_zenoh/issues/186
 
-It's also contributed to rmw_zenoh.
+and our related contributions are below.
 
 - https://github.com/ros2/rmw_zenoh/pull/252
 - https://github.com/ros2/rmw_zenoh/pull/255
@@ -53,9 +53,9 @@ It's also contributed to rmw_zenoh.
 
 **Conducting Benchmarks in CI**
 
-Additionally, the website for visualization of benchmark results created so that it's also configurable with CI.
 
-Finally, the benchmarks have been conducted in a way to give the reliable comparisons in github-actions and the results are visualized in website.
+The benchmarks have been conducted in a way to give the reliable comparisons in github-actions and exporting the metrics.
+Finally, the benchmarking CI system supports visualizing benchmark results as plots on a simple GitHub pages website.
 
 **Contributions to MoveIt During GSoC Project**
 - https://github.com/moveit/moveit2/pull/2963
@@ -65,7 +65,8 @@ Finally, the benchmarks have been conducted in a way to give the reliable compar
 
 ## Achievements
 
-We have benchmarked the middlewares against various scenarios using [this script](https://github.com/CihatAltiparmak/moveit_middleware_benchmark/blob/24-Aug-2024-demonstration/scripts/run_all_benchmarks.sh) and we have found below benchmark results. We have used default configurations of rmw_zenoh except the fact that we configured some tcp settings like below:
+We have benchmarked the middlewares against various scenarios using [this script](https://github.com/CihatAltiparmak/moveit_middleware_benchmark/blob/24-Aug-2024-demonstration/scripts/run_all_benchmarks.sh) and we have found below benchmark results.
+We have used default configurations of rmw_zenoh except the fact that we configured some tcp settings like below:
 
 ```sh
 # for rmw_zenoh
@@ -92,7 +93,7 @@ sudo sysctl -w net.core.wmem_default="20971520"
 
 ## Conclusion
 
-It was an exciting progress for me. I've contributed a lot of open source project in this period and i've learnt a lot from my works and my mentors's showing the way during Google Summer of Code. I strongly suggest you to join Google Summer of Code Program, especially in MoveIt organization side for those who interested in robotics. After this Google Summer of Code works, i'm willing to continue this project.
+It was an exciting progress for me. I've contributed a lot of open source project in this period and i've learnt a lot from my work and my mentors showing the way during Google Summer of Code. I strongly suggest you to join Google Summer of Code Program, especially in MoveIt organization side for those who interested in robotics. After this Google Summer of Code works, i'm willing to continue this project.
 
 ## Additional
 

From ce2c765aa4bdb2111c0aa13941184314afe1e109 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Mon, 2 Sep 2024 17:05:26 +0200
Subject: [PATCH 11/13] Fix typo

---
 _posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
index 9c6946ce0..bae131371 100644
--- a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
+++ b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
@@ -14,7 +14,7 @@ categories:
 
 We've completed our project titled "Zenoh Support & Benchmarking". With this project, investigated how rmw_zenoh would be used in MoveIt 2 and how rmw_zenoh would affect MoveIt's runtime performance.
 
-## Movitation
+## Motivation
 
 The goal of this Google Summer of Code Project was to make [rmw_zenoh_cpp](https://github.com/ros2/rmw_zenoh) available for MoveIt 2, benchmark the different midlewares such as rmw_cyclonedds and rmw_fastrtps against scenarios from complex robotic problems, ranging from trajectory planning and task planning to basic ROS works like basic topic subscription-publishing, and service-client operations. In addition we reported the found bugs to the rmw_zenoh project and implemented a CI configuration that supports testing rmw_zenoh.
 

From bab47c0d733a625429fbcd16992ceb24709d9c2f Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Mon, 2 Sep 2024 17:07:04 +0200
Subject: [PATCH 12/13] Fix typo

---
 _posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
index bae131371..c2a38768d 100644
--- a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
+++ b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
@@ -27,7 +27,7 @@ Initially, we couldn't run MoveIt with rmw_zenoh due to data races inside the `r
 
 **Benchmarking**
 
-During this summer, the middleware benchmarking tool has been implemented to compare the different middlewares including rmw_zenoh, rmw_cyclonedds and rmw_fastrtps. Several scenarios have been implemented for measuring how the middlewares affects performance in typical robotics use cases. You can find the middleware benhmarking tool here: [moveit_middleware_bechmark](https://github.com/CihatAltiparmak/moveit_middleware_benchmark).
+During this summer, the middleware benchmarking tool has been implemented to compare the different middlewares including rmw_zenoh, rmw_cyclonedds and rmw_fastrtps. Several scenarios have been implemented for measuring how the middlewares affects performance in typical robotics use cases. You can find the middleware benchmarking tool here: [moveit_middleware_bechmark](https://github.com/CihatAltiparmak/moveit_middleware_benchmark).
 
 The implemented test scenarios include:
 

From baa2219ca87808a6b160323d362269bfc919ebd4 Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@picknik.ai>
Date: Mon, 2 Sep 2024 17:12:02 +0200
Subject: [PATCH 13/13] Improve description

---
 _posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
index c2a38768d..32a9431a5 100644
--- a/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
+++ b/_posts/2024-08-19-GSoC-2024-Zenoh-Support-and-Benchmarking.md
@@ -6,7 +6,7 @@ layout: post
 title: "Google Summer of Code : Zenoh Support & Benchmarking"
 media_type: image
 media_link: /assets/images/blog_posts/GSoc2024.jpg
-description: "We've completed our project titled \"Zenoh Support & Benchmarking\". With this project, we could try to understand how to be used rmw_zenoh in MoveIt2 project and how rmw_zenoh affects MoveIt2's workflow. "
+description: "We've completed our project titled \"Zenoh Support & Benchmarking\". With this project, we could try to understand how to be used rmw_zenoh in MoveIt 2 and how rmw_zenoh affects MoveIt's runtime performance. "
 categories:
 - MoveIt
 - GSoC