diff --git a/irobot_benchmark/CMakeLists.txt b/irobot_benchmark/CMakeLists.txt
index 63b1e08a..7c938fe7 100644
--- a/irobot_benchmark/CMakeLists.txt
+++ b/irobot_benchmark/CMakeLists.txt
@@ -39,19 +39,10 @@ install(FILES
   ${TOPOLOGY_FILES}
   DESTINATION lib/${PROJECT_NAME}/topology)
 
-set(SCRIPTS
-  scripts/compare_latency.py
-  scripts/plot_latency.py
-  scripts/plot_cpu_memory.py
-)
-
-install(FILES
-  ${SCRIPTS}
-  DESTINATION lib/${PROJECT_NAME}/scripts)
-
-# Install the entire comms_benchmark directory
+# Install the entire comms_benchmark directory, preserving file permissions
 install(DIRECTORY comms_benchmark/
   DESTINATION lib/${PROJECT_NAME}/comms_benchmark
+  USE_SOURCE_PERMISSIONS
 )
 
 if(BUILD_TESTING)
diff --git a/irobot_benchmark/comms_benchmark/profiles/zero-copy-shm.xml b/irobot_benchmark/comms_benchmark/profiles/shared_memory_cyclonedds.xml
similarity index 100%
rename from irobot_benchmark/comms_benchmark/profiles/zero-copy-shm.xml
rename to irobot_benchmark/comms_benchmark/profiles/shared_memory_cyclonedds.xml
diff --git a/irobot_benchmark/comms_benchmark/scripts/actions/run_mix_process_benchmarks.sh b/irobot_benchmark/comms_benchmark/scripts/actions/run_mix_process_benchmarks.sh
deleted file mode 100644
index 1fdd4e00..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/actions/run_mix_process_benchmarks.sh
+++ /dev/null
@@ -1,75 +0,0 @@
-#!/bin/bash
-
-SCALING_GOVERNOR=$(cat "/sys/devices/system/cpu/cpufreq/policy0/scaling_governor")
-
-# Check if the governor is set to 'performance'
-if [ "$SCALING_GOVERNOR" != "performance" ]; then
-  echo "Warning: CPU scaling governor is not set to 'performance'. Current value is '$SCALING_GOVERNOR'."
-  echo "run: 'echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor'"
-fi
-
-# Get the directory where the script is located
-script_dir=$(dirname "$(readlink -f "$0")")
-irobot_benchmark="${script_dir}/../../../irobot_benchmark"
-topologies_dir="${script_dir}/../../topologies/actions"
-profiles_dir="${script_dir}/../../profiles"
-
-# Create a directory to store log folders
-MP="${PWD}/actions-results_mix_process/"
-rm -rf $MP && mkdir -p $MP
-
-# Define message sizes and communication types
-comms=("ipc_off_fastdds" "ipc_off_cyclonedds")
-
-# Name of the results folders
-results=("10b" "100kb" "1mb" "4mb")
-
-# Case 1: Define topologies pairs
-# topology1=("srv_10b" "srv_100kb" "srv_1mb" "srv_4mb")
-# Somehow an external host should synchronize and run also "remote_topology"
-# The script "run_single_process_benchmarks could be of help for that"
-# remote_topology=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb")
-
-
-# Case 2: Define topologies pairs
-topology1=("cli_srv_10b" "cli_srv_100kb" "cli_srv_1mb" "cli_srv_4mb")
-topology2=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb")
-# remote_topology=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb")
-
-
-# Loop through each index in the topology1 array
-for i in "${!topology1[@]}"; do
-    t1=${topology1[i]}
-    t2=${topology2[i]}
-    res=${results[i]}
-
-    for comm in "${comms[@]}"; do
-        result_folder="$MP/${res}/${comm}"
-        mkdir -p $result_folder
-
-        # Set environment variables
-        if [ "$comm" == "ipc_off_fastdds" ]; then
-            export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-        else
-            export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-        fi
-
-        cli_srv="${topologies_dir}/${t1}.json"
-        only_client="${topologies_dir}/${t2}.json"
-
-        # Run the command
-        COMMAND="${irobot_benchmark} $cli_srv $only_client -x 3 --ipc off -t 3 -s 1000 --csv-out on"
-        echo -e "\nCommand: \n$COMMAND\n"
-        eval $COMMAND
-
-        # Move log folders
-        mv *log $result_folder
-
-        # Unset environment variables after running "loaned_fastdds" command
-        if [[ "$comm" == "loaned_fastdds" || "$comm" == "loaned_cyclone" ]]; then
-            unset FASTRTPS_DEFAULT_PROFILES_FILE
-            unset RMW_FASTRTPS_USE_QOS_FROM_XML
-            unset CYCLONEDDS_URI
-        fi
-    done
-done
diff --git a/irobot_benchmark/comms_benchmark/scripts/actions/run_multi_process_benchmarks.sh b/irobot_benchmark/comms_benchmark/scripts/actions/run_multi_process_benchmarks.sh
deleted file mode 100644
index da4b6194..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/actions/run_multi_process_benchmarks.sh
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/bin/bash
-
-SCALING_GOVERNOR=$(cat "/sys/devices/system/cpu/cpufreq/policy0/scaling_governor")
-
-# Check if the governor is set to 'performance'
-if [ "$SCALING_GOVERNOR" != "performance" ]; then
-  echo "Warning: CPU scaling governor is not set to 'performance'. Current value is '$SCALING_GOVERNOR'."
-  echo "run: 'echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor'"
-fi
-
-# Get the directory where the script is located
-script_dir=$(dirname "$(readlink -f "$0")")
-irobot_benchmark="${script_dir}/../../../irobot_benchmark"
-topologies_dir="${script_dir}/../../topologies/actions"
-profiles_dir="${script_dir}/../../profiles"
-
-# Create a directory to store log folders
-MP="${PWD}/actions-results_multi_process/"
-rm -rf $MP && mkdir -p $MP
-
-# Define communication types
-comms=("ipc_off_fastdds" "ipc_off_cyclonedds")
-
-# Define topologies pairs
-results=("10b" "100kb" "1mb" "4mb")
-topology1=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb")
-topology2=("srv_10b" "srv_100kb" "srv_1mb" "srv_4mb")
-
-# Loop through each index in the topology1 array
-for i in "${!topology1[@]}"; do
-    t1=${topology1[i]}
-    t2=${topology2[i]}
-    res=${results[i]}
-
-    for comm in "${comms[@]}"; do
-        mkdir -p $MP/${res}/${comm}
-
-        # Set environment variables
-        if [ "$comm" == "ipc_off_fastdds" ]; then
-            export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-        else
-            export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-        fi
-
-        # Topology
-        cli_top="${topologies_dir}/${t1}.json"
-        srv_top="${topologies_dir}/${t2}.json"
-
-        # Results folder
-
-        # Run the command
-        COMMAND="${irobot_benchmark} $cli_top $srv_top -x 3 --ipc off -t 3 -s 1000 --csv-out on"
-        echo -e "\nCommand: \n$COMMAND\n"
-        eval $COMMAND
-
-        # Move log folders
-        mv *log $MP/${res}/${comm}
-    done
-done
diff --git a/irobot_benchmark/comms_benchmark/scripts/actions/run_single_process_benchmarks.sh b/irobot_benchmark/comms_benchmark/scripts/actions/run_single_process_benchmarks.sh
deleted file mode 100644
index c81eb5c1..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/actions/run_single_process_benchmarks.sh
+++ /dev/null
@@ -1,61 +0,0 @@
-#!/bin/bash
-
-SCALING_GOVERNOR=$(cat "/sys/devices/system/cpu/cpufreq/policy0/scaling_governor")
-
-# Check if the governor is set to 'performance'
-if [ "$SCALING_GOVERNOR" != "performance" ]; then
-  echo "Warning: CPU scaling governor is not set to 'performance'. Current value is '$SCALING_GOVERNOR'."
-  echo "run: 'echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor'"
-fi
-
-# Get the directory where the script is located
-script_dir=$(dirname "$(readlink -f "$0")")
-irobot_benchmark="${script_dir}/../../../irobot_benchmark"
-topologies_dir="${script_dir}/../../topologies/actions"
-profiles_dir="${script_dir}/../../profiles"
-
-# Create a directory to store log folders
-SP="${PWD}/actions-results_single_process/"
-rm -rf $SP && mkdir -p $SP
-
-# Define communication types
-comms=("ipc_on" "ipc_off_fastdds" "ipc_off_cyclonedds")
-
-topologies=(
-  "cli_srv_10b"
-  "cli_srv_100kb"
-  "cli_srv_1mb"
-  "cli_srv_4mb"
-)
-
-# Loop through each combination of topology and communication type
-for topology in "${topologies[@]}"; do
-    mkdir -p $SP/${topology}
-
-    for comm in "${comms[@]}"; do
-        # Set environment variables
-        if [ "$comm" == "ipc_off_cyclonedds" ]; then
-            export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-        else
-            export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-        fi
-
-        if [ "$comm" == "ipc_on" ]; then
-            ipc_option="--ipc on"
-        else
-            ipc_option="--ipc off"
-        fi
-
-        top="${topologies_dir}/${topology}.json"
-
-        # Results folder
-        result_folder=${comm}
-
-        # Run the command
-        COMMAND="${irobot_benchmark} $top -x 3 $ipc_option -t 3 -s 1000 --csv-out on --results-dir $result_folder"
-        echo -e "\nCommand: \n$COMMAND\n"
-        eval $COMMAND
-
-        mv $result_folder $SP/${topology}
-    done
-done
diff --git a/irobot_benchmark/comms_benchmark/scripts/cli-srv/run_mix_process_benchmarks.sh b/irobot_benchmark/comms_benchmark/scripts/cli-srv/run_mix_process_benchmarks.sh
deleted file mode 100644
index 91a634c4..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/cli-srv/run_mix_process_benchmarks.sh
+++ /dev/null
@@ -1,75 +0,0 @@
-#!/bin/bash
-
-SCALING_GOVERNOR=$(cat "/sys/devices/system/cpu/cpufreq/policy0/scaling_governor")
-
-# Check if the governor is set to 'performance'
-if [ "$SCALING_GOVERNOR" != "performance" ]; then
-  echo "Warning: CPU scaling governor is not set to 'performance'. Current value is '$SCALING_GOVERNOR'."
-  echo "run: 'echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor'"
-fi
-
-# Get the directory where the script is located
-script_dir=$(dirname "$(readlink -f "$0")")
-irobot_benchmark="${script_dir}/../../../irobot_benchmark"
-topologies_dir="${script_dir}/../../topologies/cli-srv"
-profiles_dir="${script_dir}/../../profiles"
-
-# Create a directory to store log folders
-MP="${PWD}/cli-srv-results_mix_process/"
-rm -rf $MP && mkdir -p $MP
-
-# Define message sizes and communication types
-comms=("ipc_off_fastdds" "ipc_off_cyclonedds")
-
-# Name of the results folders
-results=("10b" "100kb" "1mb" "4mb")
-
-# Case 1: Define topologies pairs
-# topology1=("srv_10b" "srv_100kb" "srv_1mb" "srv_4mb")
-# Somehow an external host should synchronize and run also "remote_topology"
-# The script "run_single_process_benchmarks could be of help for that"
-# remote_topology=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb")
-
-
-# Case 2: Define topologies pairs
-topology1=("cli_srv_10b" "cli_srv_100kb" "cli_srv_1mb" "cli_srv_4mb")
-topology2=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb")
-# remote_topology=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb")
-
-
-# Loop through each index in the topology1 array
-for i in "${!topology1[@]}"; do
-    t1=${topology1[i]}
-    t2=${topology2[i]}
-    res=${results[i]}
-
-    for comm in "${comms[@]}"; do
-        result_folder="$MP/${res}/${comm}"
-        mkdir -p $result_folder
-
-        # Set environment variables
-        if [ "$comm" == "ipc_off_fastdds" ]; then
-            export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-        else
-            export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-        fi
-
-        cli_srv="${topologies_dir}/${t1}.json"
-        only_client="${topologies_dir}/${t2}.json"
-
-        # Run the command
-        COMMAND="${irobot_benchmark} $cli_srv $only_client -x 3 --ipc off -t 3 -s 1000 --csv-out on"
-        echo -e "\nCommand: \n$COMMAND\n"
-        eval $COMMAND
-
-        # Move log folders
-        mv *log $result_folder
-
-        # Unset environment variables after running "loaned_fastdds" command
-        if [[ "$comm" == "loaned_fastdds" || "$comm" == "loaned_cyclone" ]]; then
-            unset FASTRTPS_DEFAULT_PROFILES_FILE
-            unset RMW_FASTRTPS_USE_QOS_FROM_XML
-            unset CYCLONEDDS_URI
-        fi
-    done
-done
diff --git a/irobot_benchmark/comms_benchmark/scripts/cli-srv/run_multi_process_benchmarks.sh b/irobot_benchmark/comms_benchmark/scripts/cli-srv/run_multi_process_benchmarks.sh
deleted file mode 100644
index 5b9c970c..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/cli-srv/run_multi_process_benchmarks.sh
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/bin/bash
-
-SCALING_GOVERNOR=$(cat "/sys/devices/system/cpu/cpufreq/policy0/scaling_governor")
-
-# Check if the governor is set to 'performance'
-if [ "$SCALING_GOVERNOR" != "performance" ]; then
-  echo "Warning: CPU scaling governor is not set to 'performance'. Current value is '$SCALING_GOVERNOR'."
-  echo "run: 'echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor'"
-fi
-
-# Get the directory where the script is located
-script_dir=$(dirname "$(readlink -f "$0")")
-irobot_benchmark="${script_dir}/../../../irobot_benchmark"
-topologies_dir="${script_dir}/../../topologies/cli-srv"
-profiles_dir="${script_dir}/../../profiles"
-
-# Create a directory to store log folders
-MP="${PWD}/cli-srv-results_multi_process/"
-rm -rf $MP && mkdir -p $MP
-
-# Define communication types
-comms=("ipc_off_fastdds" "ipc_off_cyclonedds")
-
-# Define topologies pairs
-results=("10b" "100kb" "1mb" "4mb" "1mb_multi")
-topology1=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb" "10_cli_1mb")
-topology2=("srv_10b" "srv_100kb" "srv_1mb" "srv_4mb" "srv_1mb")
-
-# Loop through each index in the topology1 array
-for i in "${!topology1[@]}"; do
-    t1=${topology1[i]}
-    t2=${topology2[i]}
-    res=${results[i]}
-
-    for comm in "${comms[@]}"; do
-        mkdir -p $MP/${res}/${comm}
-
-        # Set environment variables
-        if [ "$comm" == "ipc_off_fastdds" ]; then
-            export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-        else
-            export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-        fi
-
-        # Topology
-        cli_top="${topologies_dir}/${t1}.json"
-        srv_top="${topologies_dir}/${t2}.json"
-
-        # Results folder
-
-        # Run the command
-        COMMAND="${irobot_benchmark} $cli_top $srv_top -x 3 --ipc off -t 3 -s 1000 --csv-out on"
-        echo -e "\nCommand: \n$COMMAND\n"
-        eval $COMMAND
-
-        # Move log folders
-        mv *log $MP/${res}/${comm}
-    done
-done
diff --git a/irobot_benchmark/comms_benchmark/scripts/cli-srv/run_single_process_benchmarks.sh b/irobot_benchmark/comms_benchmark/scripts/cli-srv/run_single_process_benchmarks.sh
deleted file mode 100644
index 11ce69d6..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/cli-srv/run_single_process_benchmarks.sh
+++ /dev/null
@@ -1,62 +0,0 @@
-#!/bin/bash
-
-SCALING_GOVERNOR=$(cat "/sys/devices/system/cpu/cpufreq/policy0/scaling_governor")
-
-# Check if the governor is set to 'performance'
-if [ "$SCALING_GOVERNOR" != "performance" ]; then
-  echo "Warning: CPU scaling governor is not set to 'performance'. Current value is '$SCALING_GOVERNOR'."
-  echo "run: 'echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor'"
-fi
-
-# Get the directory where the script is located
-script_dir=$(dirname "$(readlink -f "$0")")
-irobot_benchmark="${script_dir}/../../../irobot_benchmark"
-topologies_dir="${script_dir}/../../topologies/cli-srv"
-profiles_dir="${script_dir}/../../profiles"
-
-# Create a directory to store log folders
-SP="${PWD}/cli-srv-results_single_process/"
-rm -rf $SP && mkdir -p $SP
-
-# Define communication types
-comms=("ipc_on" "ipc_off_fastdds" "ipc_off_cyclonedds")
-
-topologies=(
-  "cli_srv_10b"
-  "cli_srv_100kb"
-  "cli_srv_1mb"
-  "cli_srv_4mb"
-  "10_cli_srv_1mb"
-)
-
-# Loop through each combination of topology and communication type
-for topology in "${topologies[@]}"; do
-    mkdir -p $SP/${topology}
-
-    for comm in "${comms[@]}"; do
-        # Set environment variables
-        if [ "$comm" == "ipc_off_cyclonedds" ]; then
-            export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-        else
-            export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-        fi
-
-        if [ "$comm" == "ipc_on" ]; then
-            ipc_option="--ipc on"
-        else
-            ipc_option="--ipc off"
-        fi
-
-        top="${topologies_dir}/${topology}.json"
-
-        # Results folder
-        result_folder=${comm}
-
-        # Run the command
-        COMMAND="${irobot_benchmark} $top -x 3 $ipc_option -t 3 -s 1000 --csv-out on --results-dir $result_folder"
-        echo -e "\nCommand: \n$COMMAND\n"
-        eval $COMMAND
-
-        mv $result_folder $SP/${topology}
-    done
-done
diff --git a/irobot_benchmark/comms_benchmark/scripts/compare_all_metrics.py b/irobot_benchmark/comms_benchmark/scripts/compare_all_metrics.py
new file mode 100755
index 00000000..b78fcc87
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/compare_all_metrics.py
@@ -0,0 +1,104 @@
+import sys
+import os
+import pandas as pd
+
+def print_help():
+    """Print usage and help information."""
+    print("""
+Usage: python3 compare_all_metrics.py <results_dir1> <results_dir2> [--threshold <percentage>]
+
+Arguments:
+  <results_dir1>       Path to the first results directory (must contain average_metrics.csv).
+  <results_dir2>       Path to the second results directory (must contain average_metrics.csv).
+  --threshold <number> Optional percentage threshold. Only metrics with differences greater than this threshold or less than the negative of it are displayed in the console.
+
+Description:
+  This script compares metrics between two results directories. It calculates the percentage change for each metric and generates a CSV file with the results. If a threshold is specified, metrics exceeding this difference (positively or negatively) are displayed in the console along with the detailed line diff and original values.
+
+Example:
+  python3 compare_all_metrics.py results1 results2
+  python3 compare_all_metrics.py results1 results2 --threshold 50
+
+Output:
+  - A CSV file named 'comparison_metrics.csv' with all percentage differences.
+  - Console output of metrics with differences exceeding the specified threshold (if provided).
+""")
+    sys.exit(0)
+
+def calculate_percentage_change(value1, value2):
+    """Calculate percentage change from value1 to value2."""
+    if value1 == 0:
+        return "Infinity" if value2 != 0 else "0"
+    return ((value2 - value1) / value1) * 100
+
+# Handle help flag
+if "--help" in sys.argv or "-h" in sys.argv:
+    print_help()
+
+# Check command-line arguments
+if len(sys.argv) < 3 or len(sys.argv) > 5:
+    print("Error: Invalid arguments.")
+    print("Use --help or -h for usage instructions.")
+    sys.exit(1)
+
+results_dir1 = sys.argv[1]
+results_dir2 = sys.argv[2]
+
+# Optional threshold
+threshold = None
+if "--threshold" in sys.argv:
+    try:
+        threshold_index = sys.argv.index("--threshold") + 1
+        threshold = float(sys.argv[threshold_index])
+    except (IndexError, ValueError):
+        print("Error: Invalid threshold value. Provide a valid number after --threshold.")
+        sys.exit(1)
+
+# Paths to average_metrics.csv in both directories
+metrics_file1 = os.path.join(results_dir1, "average_metrics.csv")
+metrics_file2 = os.path.join(results_dir2, "average_metrics.csv")
+
+if not os.path.exists(metrics_file1) or not os.path.exists(metrics_file2):
+    print(f"Error: average_metrics.csv not found in one or both directories: {results_dir1}, {results_dir2}")
+    sys.exit(1)
+
+# Load the data
+df1 = pd.read_csv(metrics_file1)
+df2 = pd.read_csv(metrics_file2)
+
+# Merge the two dataframes on the Directory column
+merged = pd.merge(df1, df2, on="Directory", suffixes=("1", "2"))
+
+# Calculate percentage change for each metric
+merged["Average_CPU %"] = merged.apply(lambda row: round(calculate_percentage_change(row["Average_CPU1"], row["Average_CPU2"]), 2), axis=1)
+merged["Average_RSS_MB %"] = merged.apply(lambda row: round(calculate_percentage_change(row["Average_RSS_MB1"], row["Average_RSS_MB2"]), 2), axis=1)
+merged["Average_VSZ_MB %"] = merged.apply(lambda row: round(calculate_percentage_change(row["Average_VSZ_MB1"], row["Average_VSZ_MB2"]), 2), axis=1)
+
+# Prepare the final result DataFrame
+result = merged[["Directory", "Average_CPU %", "Average_RSS_MB %", "Average_VSZ_MB %"]].copy()
+
+# Save the result to a CSV file
+output_file = "comparison_metrics.csv"
+result.to_csv(output_file, index=False)
+print(f"Comparison completed. Output saved to {output_file}")
+
+# Print metrics with differences exceeding the threshold
+if threshold is not None:
+    print(f"\nMetrics with percentage differences exceeding {threshold}% or below {-threshold}%:\n")
+    filtered = merged[
+        (merged["Average_CPU %"] > threshold) | (merged["Average_CPU %"] < -threshold) |
+        (merged["Average_RSS_MB %"] > threshold) | (merged["Average_RSS_MB %"] < -threshold) |
+        (merged["Average_VSZ_MB %"] > threshold) | (merged["Average_VSZ_MB %"] < -threshold)
+    ]
+    if not filtered.empty:
+        for _, row in filtered.iterrows():
+            print(f"Directory: {row['Directory']}")
+            if abs(row["Average_CPU %"]) > threshold:
+                print(f"  Average_CPU %: {row['Average_CPU %']}% (Val1={row['Average_CPU1']}, Val2={row['Average_CPU2']})")
+            if abs(row["Average_RSS_MB %"]) > threshold:
+                print(f"  Average_RSS_MB %: {row['Average_RSS_MB %']}% (Val1={row['Average_RSS_MB1']}, Val2={row['Average_RSS_MB2']})")
+            if abs(row["Average_VSZ_MB %"]) > threshold:
+                print(f"  Average_VSZ_MB %: {row['Average_VSZ_MB %']}% (Val1={row['Average_VSZ_MB1']}, Val2={row['Average_VSZ_MB2']})")
+            print("-" * 40)
+    else:
+        print("No metrics exceeded the specified threshold.")
diff --git a/irobot_benchmark/comms_benchmark/scripts/multi-process/mix_process_actions.conf b/irobot_benchmark/comms_benchmark/scripts/multi-process/mix_process_actions.conf
new file mode 100644
index 00000000..c7880f44
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/multi-process/mix_process_actions.conf
@@ -0,0 +1,17 @@
+# Configuration for ActionClient/ActionServer mix process benchmarks
+
+OUTPUT_DIR="actions_mix_process"
+TOPOLOGIES_DIR="${SCRIPT_DIR}/../../topologies/actions"
+PROFILES_DIR="${SCRIPT_DIR}/../../profiles"
+
+# Results and topologies
+RESULTS=("10b" "100kb" "1mb" "4mb")
+TOPOLOGY1=("cli_srv_10b" "cli_srv_100kb" "cli_srv_1mb" "cli_srv_4mb")
+TOPOLOGY2=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb")
+
+# Communication types
+RMW_LIST=("fastrtps" "cyclonedds")
+
+# Define COMMS and LOANED_ENV_VARS for each RMW
+COMMS_fastrtps=("ipc_off")
+COMMS_cyclonedds=("ipc_off")
diff --git a/irobot_benchmark/comms_benchmark/scripts/multi-process/mix_process_cli_srv.conf b/irobot_benchmark/comms_benchmark/scripts/multi-process/mix_process_cli_srv.conf
new file mode 100644
index 00000000..b64e9afd
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/multi-process/mix_process_cli_srv.conf
@@ -0,0 +1,17 @@
+# Configuration for Client/Service mix process benchmarks
+
+OUTPUT_DIR="cli-srv_mix_process"
+TOPOLOGIES_DIR="${SCRIPT_DIR}/../../topologies/cli-srv"
+PROFILES_DIR="${SCRIPT_DIR}/../../profiles"
+
+# Results and topologies
+RESULTS=("10b" "100kb" "1mb" "4mb")
+TOPOLOGY1=("cli_srv_10b" "cli_srv_100kb" "cli_srv_1mb" "cli_srv_4mb")
+TOPOLOGY2=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb")
+
+# Communication types
+RMW_LIST=("fastrtps" "cyclonedds")
+
+# Define COMMS and LOANED_ENV_VARS for each RMW
+COMMS_fastrtps=("ipc_off")
+COMMS_cyclonedds=("ipc_off")
diff --git a/irobot_benchmark/comms_benchmark/scripts/multi-process/mix_process_pub_sub.conf b/irobot_benchmark/comms_benchmark/scripts/multi-process/mix_process_pub_sub.conf
new file mode 100644
index 00000000..34e4c5fb
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/multi-process/mix_process_pub_sub.conf
@@ -0,0 +1,25 @@
+# Configuration for Pub-Sub Mix-Process benchmarks
+
+OUTPUT_DIR="pub-sub_mix_process"
+TOPOLOGIES_DIR="${SCRIPT_DIR}/../../topologies/pub-sub"
+PROFILES_DIR="${SCRIPT_DIR}/../../profiles"
+
+# Results and topologies
+RESULTS=("10b" "100kb" "1mb" "4mb" "sierra_nevada_fixed_size" "white_mountain_fixed_size")
+TOPOLOGY1=("pub_sub_10b" "pub_sub_100kb" "pub_sub_1mb" "pub_sub_4mb" "sierra_nevada_fixed_size" "white_mountain_fixed_size")
+TOPOLOGY2=("sub_10b" "sub_100kb" "sub_1mb" "sub_4mb" "debug_sierra_nevada_fixed_size" "debug_white_mountain_fixed_size")
+
+# Communication types
+RMW_LIST=("fastrtps" "cyclonedds")
+
+# Define COMMS and LOANED_ENV_VARS for each RMW
+COMMS_fastrtps=("ipc_off" "loaned")
+LOANED_ENV_VARS_fastrtps=(
+  "export FASTRTPS_DEFAULT_PROFILES_FILE=${PROFILES_DIR}/shared_memory_fastdds_preallocated_w_realloc.xml"
+  "export RMW_FASTRTPS_USE_QOS_FROM_XML=1"
+)
+
+COMMS_cyclonedds=("ipc_off")
+LOANED_ENV_VARS_cyclonedds=(
+  "export CYCLONEDDS_URI=${PROFILES_DIR}/shared_memory_cyclonedds.xml"
+)
diff --git a/irobot_benchmark/comms_benchmark/scripts/multi-process/multi_process_actions.conf b/irobot_benchmark/comms_benchmark/scripts/multi-process/multi_process_actions.conf
new file mode 100644
index 00000000..9f5db70f
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/multi-process/multi_process_actions.conf
@@ -0,0 +1,17 @@
+# Configuration for ActionClient/ActionServer multi process benchmarks
+
+OUTPUT_DIR="actions_multi_process"
+TOPOLOGIES_DIR="${SCRIPT_DIR}/../../topologies/actions"
+PROFILES_DIR="${SCRIPT_DIR}/../../profiles"
+
+# Paired topologies
+RESULTS=("10b" "100kb" "1mb" "4mb")
+TOPOLOGY1=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb")
+TOPOLOGY2=("srv_10b" "srv_100kb" "srv_1mb" "srv_4mb")
+
+# Communication types
+RMW_LIST=("fastrtps" "cyclonedds")
+
+# Define COMMS and LOANED_ENV_VARS for each RMW
+COMMS_fastrtps=("ipc_off")
+COMMS_cyclonedds=("ipc_off")
diff --git a/irobot_benchmark/comms_benchmark/scripts/multi-process/multi_process_cli_srv.conf b/irobot_benchmark/comms_benchmark/scripts/multi-process/multi_process_cli_srv.conf
new file mode 100644
index 00000000..a3030b96
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/multi-process/multi_process_cli_srv.conf
@@ -0,0 +1,17 @@
+# Configuration for Client/Service multi process benchmarks
+
+OUTPUT_DIR="cli-srv_multi_process"
+TOPOLOGIES_DIR="${SCRIPT_DIR}/../../topologies/cli-srv"
+PROFILES_DIR="${SCRIPT_DIR}/../../profiles"
+
+# Paired topologies
+RESULTS=("10b" "100kb" "1mb" "4mb" "1mb_multi")
+TOPOLOGY1=("cli_10b" "cli_100kb" "cli_1mb" "cli_4mb" "10_cli_1mb")
+TOPOLOGY2=("srv_10b" "srv_100kb" "srv_1mb" "srv_4mb" "srv_1mb")
+
+# Communication types
+RMW_LIST=("fastrtps" "cyclonedds")
+
+# Define COMMS and LOANED_ENV_VARS for each RMW
+COMMS_fastrtps=("ipc_off")
+COMMS_cyclonedds=("ipc_off")
diff --git a/irobot_benchmark/comms_benchmark/scripts/multi-process/multi_process_pub_sub.conf b/irobot_benchmark/comms_benchmark/scripts/multi-process/multi_process_pub_sub.conf
new file mode 100644
index 00000000..10650dd8
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/multi-process/multi_process_pub_sub.conf
@@ -0,0 +1,25 @@
+# Configuration for Pub-Sub Multi-Process benchmarks
+
+OUTPUT_DIR="pub-sub_multi_process"
+TOPOLOGIES_DIR="${SCRIPT_DIR}/../../topologies/pub-sub"
+PROFILES_DIR="${SCRIPT_DIR}/../../profiles"
+
+# Paired topologies
+RESULTS=("10b" "100kb" "1mb" "4mb")
+TOPOLOGY1=("pub_10b" "pub_100kb" "pub_1mb" "pub_4mb")
+TOPOLOGY2=("sub_10b" "sub_100kb" "sub_1mb" "sub_4mb")
+
+# Communication types
+RMW_LIST=("fastrtps" "cyclonedds")
+
+# Define COMMS and LOANED_ENV_VARS for each RMW
+COMMS_fastrtps=("ipc_off" "loaned")
+LOANED_ENV_VARS_fastrtps=(
+  "export FASTRTPS_DEFAULT_PROFILES_FILE=${PROFILES_DIR}/shared_memory_fastdds_preallocated_w_realloc.xml"
+  "export RMW_FASTRTPS_USE_QOS_FROM_XML=1"
+)
+
+COMMS_cyclonedds=("ipc_off")
+LOANED_ENV_VARS_cyclonedds=(
+  "export CYCLONEDDS_URI=${PROFILES_DIR}/shared_memory_cyclonedds.xml"
+)
diff --git a/irobot_benchmark/comms_benchmark/scripts/multi-process/run_multi_process_benchmark.sh b/irobot_benchmark/comms_benchmark/scripts/multi-process/run_multi_process_benchmark.sh
new file mode 100644
index 00000000..330b9a05
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/multi-process/run_multi_process_benchmark.sh
@@ -0,0 +1,102 @@
+#!/bin/bash
+
+if [ "$#" -ne 1 ]; then
+  echo "Usage: $0 <config_file>"
+  exit 1
+fi
+
+# Load the configuration file
+CONFIG_FILE=$1
+if [ ! -f "$CONFIG_FILE" ]; then
+  echo "Configuration file '$CONFIG_FILE' not found!"
+  exit 1
+fi
+
+if [ -z "${TEST_DURATION}" ]; then
+  TEST_DURATION=1
+fi
+
+# Define SCRIPT_DIR before sourcing the configuration file
+SCRIPT_DIR=$(dirname "$(readlink -f "$0")")
+export SCRIPT_DIR
+
+# Source the configuration file
+source "$CONFIG_FILE"
+
+# Load paths
+GOVERNOR_SCRIPT="${SCRIPT_DIR}/../set_cpu_governor.sh"
+IROBOT_BENCHMARK="${SCRIPT_DIR}/../../../irobot_benchmark"
+
+# Get the original governor
+original_governor=$(cat /sys/devices/system/cpu/cpufreq/policy0/scaling_governor)
+# Set the CPU governor to performance
+$GOVERNOR_SCRIPT performance
+# Restore the original governor on exit
+trap "$GOVERNOR_SCRIPT $original_governor" EXIT
+
+if [ $? -ne 0 ]; then
+  echo -e "\033[31m[ERROR] Failed to set CPU governor to performance. Exiting...\033[0m"
+  exit 1
+fi
+
+# Create a directory to store log folders
+rm -rf "$OUTPUT_DIR" && mkdir -p "$OUTPUT_DIR"
+
+# Use colors for better visualisation
+GREEN="\033[32m"
+RESET="\033[0m"
+
+# Loop through RMW implementations
+for RMW in "${RMW_LIST[@]}"; do
+  echo -e "${GREEN}Processing RMW: $RMW${RESET}"
+
+  # Resolve COMMS and LOANED_ENV_VARS dynamically
+  declare -n COMMS="COMMS_${RMW}"
+  declare -n LOANED_ENV_VARS="LOANED_ENV_VARS_${RMW}"
+  echo -e "${GREEN}  COMMS for $RMW: ${COMMS[@]}${RESET}"
+  echo -e "${GREEN}  LOANED_ENV_VARS for $RMW: \n      ${LOANED_ENV_VARS[@]}${RESET}"
+
+  for COMM in "${COMMS[@]}"; do
+    echo -e "${GREEN}  Testing COMM: $COMM${RESET}"
+
+    # Set RMW implementation
+    export RMW_IMPLEMENTATION="rmw_${RMW}_cpp"
+
+    # Handle loaned environment variables
+    if [[ "$COMM" == "loaned" ]]; then
+      for VAR in "${LOANED_ENV_VARS[@]}"; do
+        eval $VAR
+      done
+    fi
+
+    # Loop through topology pairs
+    for i in "${!TOPOLOGY1[@]}"; do
+      T1="${TOPOLOGY1[i]}"
+      T2="${TOPOLOGY2[i]}"
+      RES="${RESULTS[i]}"
+
+      RESULT_FOLDER="$OUTPUT_DIR/${RES}/${COMM}_${RMW}"
+      mkdir -p "$RESULT_FOLDER"
+
+      # Set topology files
+      if [[ "$COMM" == "loaned" ]]; then
+        TOP1="${TOPOLOGIES_DIR}/${T1}_loaned.json"
+      else
+        TOP1="${TOPOLOGIES_DIR}/${T1}.json"
+      fi
+      TOP2="${TOPOLOGIES_DIR}/${T2}.json"
+
+      # Run the command
+      COMMAND="${IROBOT_BENCHMARK} $TOP1 $TOP2 -x 3 --ipc off -t $TEST_DURATION -s 1000 --csv-out on"
+      echo -e "${GREEN}\nCommand: \n$COMMAND\n${RESET}"
+      eval $COMMAND
+      if [ $? -ne 0 ]; then
+        echo -e "\033[31m[ERROR] Command failed: $COMMAND\033[0m"
+        exit 1
+      fi
+
+      # Move log folders
+      mv *log "$RESULT_FOLDER"
+    done
+  done
+done
diff --git a/irobot_benchmark/comms_benchmark/scripts/parse-results/compare_latency.py b/irobot_benchmark/comms_benchmark/scripts/parse-results/compare_latency.py
old mode 100644
new mode 100755
index 010ed06b..24634890
--- a/irobot_benchmark/comms_benchmark/scripts/parse-results/compare_latency.py
+++ b/irobot_benchmark/comms_benchmark/scripts/parse-results/compare_latency.py
@@ -1,89 +1,242 @@
 import os
-import sys
 import csv
+import sys
+import time
 import matplotlib.pyplot as plt
 
-def calculate_average_stddev(csv_file):
-    with open(csv_file, 'r', newline='') as file:
-        reader = csv.DictReader(file)
-        mean_values = []
-        for row in reader:
-            mean_values.append(float(row['mean_us']))
-        if mean_values:
-            avg_mean = sum(mean_values) / len(mean_values)
-            return avg_mean
+def get_sorted_files_by_mtime(directory):
+    # Find all latency_all.txt files in the directory and sort them by modification time
+    files = [os.path.join(root, file) for root, _, files in os.walk(directory) for file in files if file == 'latency_all.txt']
+    return sorted(files, key=lambda f: os.path.getmtime(f))
+
+def extract_sections(file_path):
+    """
+    Extract different sections from the latency_all.txt file.
+    """
+    with open(file_path, 'r') as f:
+        lines = f.readlines()
+
+    sections = {
+        "subscriptions": [],
+        "publishers": [],
+        "clients": [],
+        "services": [],
+        "action_clients": [],
+        "action_servers": []
+    }
+
+    current_section = None
+
+    for line in lines:
+        if "Action Clients stats:" in line:
+            current_section = "action_clients"
+            continue
+        elif "Action Servers stats:" in line:
+            current_section = "action_servers"
+            continue
+        elif "Clients stats:" in line:
+            current_section = "clients"
+            continue
+        elif "Services stats:" in line:
+            current_section = "services"
+            continue
+        elif "Subscriptions stats:" in line:
+            current_section = "subscriptions"
+            continue
+        elif "Publishers stats:" in line:
+            current_section = "publishers"
+            continue
+
+        if current_section and line.strip():
+            sections[current_section].append(line)
+
+    return sections
+
+def calculate_average_from_section(lines):
+    """
+    Calculate the average mean_us value from a section's lines.
+    """
+    if not lines:
+        return None
+
+    reader = csv.DictReader(lines)
+    mean_values = []
+    for row in reader:
+        mean_us = row.get('mean_us')
+        if mean_us and mean_us.strip():
+            try:
+                mean_values.append(float(mean_us))
+            except ValueError:
+                print(f"Invalid 'mean_us' value: {mean_us}")
         else:
-            return None
+            print(f"Missing 'mean_us' in row: {row}")
+
+    if mean_values:
+        return sum(mean_values) / len(mean_values)
+    return None
 
 def process_directory(directory):
-    pub_duration_csv = os.path.join(directory, "pub_duration.csv")
-    sub_latency_csv = os.path.join(directory, "sub_latency.csv")
+    """
+    Process all latency_all.txt files in the directory and calculate the averages.
+    """
+    results = []
+    # Get sorted latency_all.txt files by modification time
+    sorted_files = get_sorted_files_by_mtime(directory)
+    for file_path in sorted_files:
+        if file_path.endswith('latency_all.txt'):
+                root = os.path.dirname(file_path)  # Get root directory for cleaned path
+                sections = extract_sections(file_path)
 
-    avg_pub_duration = None
-    avg_sub_latency = None
+                avg_pub_duration = calculate_average_from_section(sections["publishers"])
+                avg_sub_latency = calculate_average_from_section(sections["subscriptions"])
+                avg_client_latency = calculate_average_from_section(sections["clients"])
+                avg_service_latency = calculate_average_from_section(sections["services"])
+                avg_action_client_latency = calculate_average_from_section(sections["action_clients"])
+                avg_action_server_latency = calculate_average_from_section(sections["action_servers"])
 
-    if os.path.exists(pub_duration_csv):
-        avg_pub_duration = calculate_average_stddev(pub_duration_csv)
+                clean_root = root.lstrip("./")  # Remove leading "./" from the directory path
+                results.append({
+                    "Directory": clean_root,
+                    "PubDur": avg_pub_duration,
+                    "SubLat": avg_sub_latency,
+                    "CliLat": avg_client_latency,
+                    "SrvLat": avg_service_latency,
+                    "ActionCliLat": avg_action_client_latency,
+                    "ActionSrvLat": avg_action_server_latency
+                })
+    return results
 
-    if os.path.exists(sub_latency_csv):
-        avg_sub_latency = calculate_average_stddev(sub_latency_csv)
+def generate_average_latency_csv(results):
+    """
+    Generate a CSV file containing average latency data for all directories and print its content to the console.
+    """
+    with open("average_latency.csv", 'w', newline='') as csvfile:
+        fieldnames = [
+            'Directory', 'PubDur', 'SubLat',
+            'CliLat', 'SrvLat',
+            'ActionCliLat', 'ActionSrvLat'
+        ]
+        writer = csv.DictWriter(csvfile, fieldnames=fieldnames, delimiter=';')
+        writer.writeheader()
 
-    return avg_pub_duration, avg_sub_latency
+        # Print the header in the console
+        print(";".join(fieldnames))
 
-def generate_average_latency_data(directories):
-    pub_duration_data = []
-    sub_latency_data = []
-    for directory in directories:
-        avg_pub_duration, avg_sub_latency = process_directory(directory)
-        # Replace None values with zeros
-        pub_duration_data.append(round(avg_pub_duration, 2) if avg_pub_duration is not None else 0)
-        sub_latency_data.append(round(avg_sub_latency, 2) if avg_sub_latency is not None else 0)
-    return pub_duration_data, sub_latency_data
-
-def plot_publisher_latency(pub_duration_data, directories):
-    plt.figure(figsize=(8, 5))
-    plt.bar(directories, pub_duration_data, color='skyblue')
-    plt.xlabel('Directory')
-    plt.ylabel('AvgPubDuration')
-    plt.title('Average Publishing Duration')
-    plt.tight_layout()
-    plt.show()
+        for result in results:
+            row = {
+                'Directory': result["Directory"],
+                'PubDur': round(result["PubDur"], 2) if result["PubDur"] is not None else '',
+                'SubLat': round(result["SubLat"], 2) if result["SubLat"] is not None else '',
+                'CliLat': round(result["CliLat"], 2) if result["CliLat"] is not None else '',
+                'SrvLat': round(result["SrvLat"], 2) if result["SrvLat"] is not None else '',
+                'ActionCliLat': round(result["ActionCliLat"], 2) if result["ActionCliLat"] is not None else '',
+                'ActionSrvLat': round(result["ActionSrvLat"], 2) if result["ActionSrvLat"] is not None else ''
+            }
+            writer.writerow(row)
+
+            # Print the row in the console
+            print(";".join(str(row[field]) for field in fieldnames))
+
+def plot_latency_metrics(results):
+    """
+    Plot the latency metrics for all directories in a single horizontal plot with different symbols.
+    """
+    directories = [result["Directory"] for result in results]
+    metrics = {
+        "PubDur": [result["PubDur"] or 0 for result in results],
+        "SubLat": [result["SubLat"] or 0 for result in results],
+        "CliLat": [result["CliLat"] or 0 for result in results],
+        "SrvLat": [result["SrvLat"] or 0 for result in results],
+        "ActionCliLat": [result["ActionCliLat"] or 0 for result in results],
+        "ActionSrvLat": [result["ActionSrvLat"] or 0 for result in results],
+    }
 
-def plot_subscription_latency(sub_latency_data, directories):
-    plt.figure(figsize=(8, 5))
-    plt.bar(directories, sub_latency_data, color='lightgreen')
-    plt.xlabel('Directory')
-    plt.ylabel('AvgSubLatency')
-    plt.title('Average Subscription Latency')
+    # Assign each metric a unique color and symbol
+    styles = {
+        "PubDur": ("blue", "o"),  # Circle
+        "SubLat": ("orange", "*"),  # Star
+        "CliLat": ("green", "s"),  # Square
+        "SrvLat": ("red", "D"),  # Diamond
+        "ActionCliLat": ("purple", "^"),  # Triangle Up
+        "ActionSrvLat": ("brown", "v"),  # Triangle Down
+    }
+
+    plt.figure(figsize=(12, 8))
+
+    # Plot dots for each metric, skipping zero values
+    for metric, values in metrics.items():
+        color, marker = styles[metric]
+        filtered_values = [val for val in values if val > 0]
+        filtered_dirs = [directories[i] for i, val in enumerate(values) if val > 0]
+        plt.scatter(filtered_values, filtered_dirs, label=metric, color=color, marker=marker, s=50)
+
+    # Add labels and title
+    plt.xlabel("Latency (us)")
+    plt.ylabel("Directory")
+    plt.title("Latency Metrics by Directory")
+    plt.legend(title="Metrics", loc="upper right")
+    plt.grid(True, axis="x", linestyle="--", alpha=0.7)
     plt.tight_layout()
     plt.show()
 
-def generate_average_latency_csv(directories):
-    with open("average_latency.csv", 'w', newline='') as csvfile:
-        fieldnames = ['Directory', 'AvgPubDuration', 'AvgSubLatency']
-        writer = csv.DictWriter(csvfile, fieldnames=fieldnames)
-        writer.writeheader()
-        for directory in directories:
-            avg_pub_duration, avg_sub_latency = process_directory(directory)
-            writer.writerow({
-                'Directory': directory,
-                'AvgPubDuration': round(avg_pub_duration, 2) if avg_pub_duration is not None else '',
-                'AvgSubLatency': round(avg_sub_latency, 2) if avg_sub_latency is not None else ''
-            })
+
+def print_help():
+    """
+    Print help and usage instructions.
+    """
+    print("""
+Usage: python compare_latency.py <directory> [--plot]
+
+Arguments:
+  <directory>   Root directory to search for 'latency_all.txt' files.
+  --plot        Optional flag to generate latency metric plots.
+
+Description:
+  This script processes all 'latency_all.txt' files in the specified directory (and its subdirectories),
+  calculates average latency metrics (for publishers, subscriptions, clients, services, action clients, and
+  action servers), and generates a CSV file (average_latency.csv) with these metrics.
+  If the --plot flag is provided, it also generates plots for the metrics.
+
+Example:
+  python compare_latency.py ./my_directory --plot
+""")
+    sys.exit(0)
 
 if __name__ == "__main__":
+    if "--help" in sys.argv or "-h" in sys.argv:
+        print_help()
+
     if len(sys.argv) < 2:
-        print("Usage: python script.py directory1 directory2 ...")
+        print("Error: Missing required arguments.")
+        print("Use --help or -h for usage instructions.")
+        sys.exit(1)
+
+    # Extract directory arguments and optional flags
+    args = sys.argv[1:]
+    plot = "--plot" in args
+    directories = [arg for arg in args if arg != "--plot"]
+
+    if not directories:
+        print("Error: No directories provided.")
+        sys.exit(1)
+
+    all_results = []
+
+    for directory in directories:
+        if not os.path.isdir(directory):
+            print(f"Warning: '{directory}' is not a valid directory. Skipping.")
+            continue
+        results = process_directory(directory)
+        all_results.extend(results)
+
+    if not all_results:
+        print("No valid data found to process.")
         sys.exit(1)
 
-    directories = sys.argv[1:]
-    generate_average_latency_csv(directories)
+    # Generate CSV
+    generate_average_latency_csv(all_results)
 
-    with open("average_latency.csv", 'r', newline='') as csvfile:
-        reader = csv.reader(csvfile)
-        for row in reader:
-            print(','.join(row))
+    # Plot latency metrics if --plot is passed
+    if plot:
+        plot_latency_metrics(all_results)
 
-    pub_duration_data, sub_latency_data = generate_average_latency_data(directories)
-    plot_publisher_latency(pub_duration_data, directories)
-    plot_subscription_latency(sub_latency_data, directories)
diff --git a/irobot_benchmark/comms_benchmark/scripts/parse-results/compare_metrics.py b/irobot_benchmark/comms_benchmark/scripts/parse-results/compare_metrics.py
new file mode 100755
index 00000000..54f19adc
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/parse-results/compare_metrics.py
@@ -0,0 +1,159 @@
+import os
+import sys
+import pandas as pd
+import time
+import numpy as np
+import matplotlib.pyplot as plt
+
+def get_sorted_directories_by_mtime(directories):
+    # Sort directories by the modification time of resources.txt
+    return sorted(directories, key=lambda d: os.path.getmtime(os.path.join(d, "resources.txt")))
+
+def find_directories_with_resources(root_dirs):
+    directories = []
+    for root_dir in root_dirs:
+        for root, _, files in os.walk(root_dir):
+            if "resources.txt" in files:
+                # Remove ./ prefix from the path
+                clean_path = root.lstrip("./")
+                directories.append(clean_path)
+    return directories
+
+def process_directory(directory):
+    file_path = os.path.join(directory, "resources.txt")
+
+    # Read the file
+    resources_data = pd.read_csv(file_path)
+
+    # Extract CPU percentage, RSS memory, VSZ memory, and Latency
+    cpu_perc = resources_data['cpu_perc'].astype(float)
+    rss_KB = resources_data['rss_KB'].astype(float)
+    vsz_KB = resources_data['vsz_KB'].astype(float)
+    resources_data['latency_us'] = resources_data['latency_us'].apply(lambda x: 0 if x > 1000000000 else x)
+    latency_us = resources_data['latency_us'].astype(float)
+    time_ms = resources_data['time_ms']
+
+    return time_ms, cpu_perc, rss_KB, vsz_KB, latency_us
+
+def print_help():
+    """
+    Print usage instructions for the script.
+    """
+    print("""
+Usage: python compare_metrics.py <directory1> [<directory2> ...] [--plot]
+
+Arguments:
+  <directory1>, <directory2>, ...   Directories to search for subdirectories containing 'resources.txt' files.
+  --plot                            Optional flag to generate plots for CPU, RSS, VSZ, and Latency metrics over time.
+
+Example:
+  python3 compare_metrics.py ./dir1 ./dir2 --plot
+""")
+    sys.exit(0)
+
+# Parse command-line arguments for directories and optional plot
+if "--help" in sys.argv or "-h" in sys.argv:
+    print_help()
+
+if len(sys.argv) < 2:
+    print("Error: Missing required arguments.")
+    print("Use --help or -h for usage instructions.")
+    sys.exit(1)
+
+args = sys.argv[1:]
+plot = "--plot" in args
+directories = [arg for arg in args if arg != "--plot"]
+
+if not directories:
+    print("Error: No directories provided.")
+    sys.exit(1)
+
+# Find directories with resources.txt in the specified directories
+directories = find_directories_with_resources(directories)
+
+if not directories:
+    print("No directories with 'resources.txt' found in the provided directories.")
+    exit(1)
+
+# Sort directories by modification time (oldest to newest)
+directories = get_sorted_directories_by_mtime(directories)
+
+# Lists to store data from all directories
+all_time_ms = []
+all_cpu_perc = []
+all_rss_MB = []
+all_vsz_MB = []
+all_latency_us = []
+
+# CSV output file
+csv_output_file = "average_metrics.csv"
+
+# Process each directory and collect data
+with open(csv_output_file, 'w') as csv_file:
+    csv_file.write("Directory;CPU;RSS_MB;VSZ_MB;Latency_us\n")
+
+    for directory in directories:
+        time_ms, cpu_perc, rss_KB, vsz_KB, latency_us = process_directory(directory)
+        all_time_ms.append(time_ms)
+        all_cpu_perc.append(cpu_perc)
+        all_rss_MB.append(rss_KB / 1024)  # Convert from KB to MB
+        all_vsz_MB.append(vsz_KB / 1024)  # Convert from KB to MB
+        all_latency_us.append(latency_us)
+
+        # Compute average metrics for the current directory
+        average_cpu = round(np.mean(cpu_perc), 2)
+        average_rss_MB = round(np.mean(rss_KB) / 1024, 2)  # Convert from KB to MB
+        average_vsz_MB = round(np.mean(vsz_KB) / 1024, 2)  # Convert from KB to MB
+        average_latency_us = round(np.mean(latency_us), 2)
+
+        # Print and write average metrics in CSV format
+        csv_file.write(f"{directory.lstrip('./')};{average_cpu};{average_rss_MB};{average_vsz_MB};{average_latency_us}\n")
+        if directory == directories[0]:  # Print column titles only once
+            print("Directory;CPU;RSS_MB;VSZ_MB;Latency_us")
+        print(f"{directory.lstrip('./')};{average_cpu};{average_rss_MB};{average_vsz_MB};{average_latency_us}")
+
+# Plotting if --plot is passed
+if plot:
+    # Plot CPU usage for all directories
+    plt.figure(figsize=(8, 5))
+    for time_ms, cpu_perc, directory in zip(all_time_ms, all_cpu_perc, directories):
+        plt.plot(time_ms, cpu_perc, label=f'CPU_{directory}')
+    plt.xlabel('Time (ms)')
+    plt.ylabel('CPU Percentage')
+    plt.title('CPU Usage over Time')
+    plt.grid(True)
+    plt.legend()
+    plt.show()
+
+    # Plot RSS memory for all directories
+    plt.figure(figsize=(8, 5))
+    for time_ms, rss_MB, directory in zip(all_time_ms, all_rss_MB, directories):
+        plt.plot(time_ms, rss_MB, label=f'RSS_{directory}')
+    plt.xlabel('Time (ms)')
+    plt.ylabel('RSS Memory (MB)')
+    plt.title('RSS Memory over Time')
+    plt.grid(True)
+    plt.legend()
+    plt.show()
+
+    # Plot VSZ memory for all directories
+    plt.figure(figsize=(8, 5))
+    for time_ms, vsz_MB, directory in zip(all_time_ms, all_vsz_MB, directories):
+        plt.plot(time_ms, vsz_MB, label=f'VSZ_{directory}')
+    plt.xlabel('Time (ms)')
+    plt.ylabel('VSZ Memory (MB)')
+    plt.title('VSZ Memory over Time')
+    plt.grid(True)
+    plt.legend()
+    plt.show()
+
+    # Plot Latency for all directories
+    plt.figure(figsize=(8, 5))
+    for time_ms, latency_us, directory in zip(all_time_ms, all_latency_us, directories):
+        plt.plot(time_ms, latency_us, label=f'Latency_{directory}')
+    plt.xlabel('Time (ms)')
+    plt.ylabel('Latency (us)')
+    plt.title('Latency over Time')
+    plt.grid(True)
+    plt.legend()
+    plt.show()
diff --git a/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_cpu_multi_process.py b/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_cpu_multi_process.py
deleted file mode 100755
index 58895e3f..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_cpu_multi_process.py
+++ /dev/null
@@ -1,115 +0,0 @@
-import pandas as pd
-import sys
-
-def process_csv(csv_file):
-    # Read the CSV file
-    df = pd.read_csv(csv_file)
-
-    # Initialize dictionary to store results
-    output_data_cpu = {}
-    output_data_rss = {}
-    output_data_vsz = {}
-
-    # Iterate over each row
-    for index, row in df.iterrows():
-        directory = row['Directory']
-        size, comm, topology = directory.split('/')[:3]
-        key = f"{size}/{comm}"
-        pub_cpu = 0
-        sub_cpu = 0
-        pub_sub_cpu = 0
-        debug_cpu = 0
-        main_cpu = 0
-        pub_rss = 0
-        sub_rss = 0
-        pub_sub_rss = 0
-        debug_rss = 0
-        main_rss = 0
-        pub_vsz = 0
-        sub_vsz = 0
-        pub_sub_vsz = 0
-        debug_vsz = 0
-        main_vsz = 0
-
-        if 'debug' in topology:
-            debug_cpu = row['Average_CPU']
-            debug_rss = row['Average_RSS_MB']
-            debug_vsz = row['Average_VSZ_MB']
-        elif 'pub' in topology:
-            if 'pub_sub' in topology:
-                pub_sub_cpu = row['Average_CPU']
-                pub_sub_rss = row['Average_RSS_MB']
-                pub_sub_vsz = row['Average_VSZ_MB']
-            else:
-                pub_cpu = row['Average_CPU']
-                pub_rss = row['Average_RSS_MB']
-                pub_vsz = row['Average_VSZ_MB']
-        elif 'sub' in topology:
-            sub_cpu = row['Average_CPU']
-            sub_rss = row['Average_RSS_MB']
-            sub_vsz = row['Average_VSZ_MB']
-        else:
-            main_cpu = row['Average_CPU']
-            main_rss = row['Average_RSS_MB']
-            main_vsz = row['Average_VSZ_MB']
-
-        if key not in output_data_cpu:
-            output_data_cpu[key] = {'pub_cpu': 0, 'sub_cpu': 0, 'pub_sub_cpu': 0, 'debug_cpu': 0, 'main_cpu': 0}
-        output_data_cpu[key]['pub_cpu'] += pub_cpu
-        output_data_cpu[key]['sub_cpu'] += sub_cpu
-        output_data_cpu[key]['pub_sub_cpu'] += pub_sub_cpu
-        output_data_cpu[key]['debug_cpu'] += debug_cpu
-        output_data_cpu[key]['main_cpu'] += main_cpu
-
-        if key not in output_data_rss:
-            output_data_rss[key] = {'pub_rss': 0, 'sub_rss': 0, 'pub_sub_rss': 0, 'debug_rss': 0, 'main_rss': 0}
-        output_data_rss[key]['pub_rss'] += pub_rss
-        output_data_rss[key]['sub_rss'] += sub_rss
-        output_data_rss[key]['pub_sub_rss'] += pub_sub_rss
-        output_data_rss[key]['debug_rss'] += debug_rss
-        output_data_rss[key]['main_rss'] += main_rss
-
-        if key not in output_data_vsz:
-            output_data_vsz[key] = {'pub_vsz': 0, 'sub_vsz': 0, 'pub_sub_vsz': 0, 'debug_vsz': 0, 'main_vsz': 0}
-        output_data_vsz[key]['pub_vsz'] += pub_vsz
-        output_data_vsz[key]['sub_vsz'] += sub_vsz
-        output_data_vsz[key]['pub_sub_vsz'] += pub_sub_vsz
-        output_data_vsz[key]['debug_vsz'] += debug_vsz
-        output_data_vsz[key]['main_vsz'] += main_vsz
-
-    # Initialize lists to store combined data for CPU, RSS, and VSZ
-    combined_data_cpu = []
-    combined_data_rss = []
-    combined_data_vsz = []
-
-    # Combine data into lists for CPU, RSS, and VSZ
-    for key, value in output_data_cpu.items():
-        total_cpu = value['pub_cpu'] + value['sub_cpu'] + value['pub_sub_cpu'] + value['debug_cpu'] + value['main_cpu']
-        combined_data_cpu.append([key, value['pub_cpu'], value['sub_cpu'], value['pub_sub_cpu'], value['debug_cpu'], value['main_cpu'], total_cpu])
-
-    for key, value in output_data_rss.items():
-        total_rss = value['pub_rss'] + value['sub_rss'] + value['pub_sub_rss'] + value['debug_rss'] + value['main_rss']
-        combined_data_rss.append([key, value['pub_rss'], value['sub_rss'], value['pub_sub_rss'], value['debug_rss'], value['main_rss'], total_rss])
-
-    for key, value in output_data_vsz.items():
-        total_vsz = value['pub_vsz'] + value['sub_vsz'] + value['pub_sub_vsz'] + value['debug_vsz'] + value['main_vsz']
-        combined_data_vsz.append([key, value['pub_vsz'], value['sub_vsz'], value['pub_sub_vsz'], value['debug_vsz'], value['main_vsz'], total_vsz])
-
-    # Create DataFrames for the output CSVs for CPU, RSS, and VSZ
-    output_df_cpu = pd.DataFrame(combined_data_cpu, columns=['Dir', 'pub_cpu', 'sub_cpu', 'pub_sub_cpu', 'debug_cpu', 'main_cpu', 'total'])
-    output_df_rss = pd.DataFrame(combined_data_rss, columns=['Dir', 'pub_rss', 'sub_rss', 'pub_sub_rss', 'debug_rss', 'main_rss', 'total'])
-    output_df_vsz = pd.DataFrame(combined_data_vsz, columns=['Dir', 'pub_vsz', 'sub_vsz', 'pub_sub_vsz', 'debug_vsz', 'main_vsz', 'total'])
-
-    # Print the DataFrames as comma-separated values
-    print(output_df_cpu.to_csv(index=False))
-    print(output_df_rss.to_csv(index=False))
-    print(output_df_vsz.to_csv(index=False))
-
-
-if __name__ == "__main__":
-    if len(sys.argv) != 2:
-        print("Usage: python script.py <input_csv_file>")
-        sys.exit(1)
-
-    input_csv_file = sys.argv[1]
-    process_csv(input_csv_file)
diff --git a/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_cpu_single_process.py b/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_cpu_single_process.py
deleted file mode 100755
index bf805335..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_cpu_single_process.py
+++ /dev/null
@@ -1,41 +0,0 @@
-import csv
-import sys
-
-def process_csv(input_file):
-    data = {}
-    with open(input_file, newline='') as csvfile:
-        reader = csv.DictReader(csvfile)
-        for row in reader:
-            directory = row['Directory']
-            name, comm = directory.split('/')[-2:]
-            average_cpu = row['Average_CPU']
-            average_rss_mb = row['Average_RSS_MB']
-            average_vsz_mb = row['Average_VSZ_MB']
-            if name not in data:
-                data[name] = {}
-            data[name][comm] = {'CPU': average_cpu, 'RSS': average_rss_mb, 'VSZ': average_vsz_mb}
-
-    return data
-
-def print_output(data):
-    name_list = sorted(data.keys())
-    comm_set = set()
-    for name in name_list:
-        for comm in data[name]:
-            comm_set.add(comm)
-
-    for metric in ['CPU', 'RSS', 'VSZ']:
-        print('Topology,' + ','.join(sorted(comm_set)))
-        for name in name_list:
-            row = [metric + '_' + name] + [data[name][comm].get(metric, '') for comm in sorted(comm_set)]
-            print(','.join(row))
-        print()  # Print an empty line between different metrics
-
-if __name__ == "__main__":
-    if len(sys.argv) != 2:
-        print("Usage: python parse_averages_single_process.py average_metrics.csv")
-        sys.exit(1)
-
-    input_file = sys.argv[1]
-    data = process_csv(input_file)
-    print_output(data)
diff --git a/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_latency_multi_process.py b/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_latency_multi_process.py
deleted file mode 100755
index 800cfab9..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_latency_multi_process.py
+++ /dev/null
@@ -1,25 +0,0 @@
-import pandas as pd
-import sys
-
-def generate_summary(csv_file):
-    # Read the CSV file into a DataFrame
-    df = pd.read_csv(csv_file)
-
-    # Extracting relevant columns
-    df['Directory'] = df['Directory'].str.split('/').str[0]
-    df['Category'] = df['Directory'].str.split('_').str[-1]
-    df['Sub'] = df['AvgSubLatency']
-    df = df[['Directory', 'Sub', 'AvgPubDuration']]
-
-    # Pivot the DataFrame
-    df_pivot = pd.pivot_table(df, values=['Sub', 'AvgPubDuration'], index='Directory', aggfunc='first')
-
-    # Print the new DataFrame
-    print(df_pivot.fillna(0))
-
-if __name__ == "__main__":
-    if len(sys.argv) != 2:
-        print("Usage: python script.py input_csv_file")
-    else:
-        csv_file = sys.argv[1]
-        generate_summary(csv_file)
diff --git a/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_latency_single_process.py b/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_latency_single_process.py
deleted file mode 100755
index 94a7ce64..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/parse-results/parse_latency_single_process.py
+++ /dev/null
@@ -1,33 +0,0 @@
-import pandas as pd
-import sys
-
-def generate_csv_tables(vcs_file):
-    # Read the VCS file into a DataFrame
-    df = pd.read_csv(vcs_file)
-
-    # Split the 'Directory' column to extract topology and type
-    df[['Topology', 'Type']] = df['Directory'].str.split('/', expand=True)
-
-    # Pivot the DataFrame to rearrange data for AvgSubLatency
-    avg_sub_latency_df = df.pivot(index='Type', columns='Topology', values='AvgSubLatency')
-
-    # Pivot the DataFrame to rearrange data for AvgPubDuration
-    avg_pub_duration_df = df.pivot(index='Type', columns='Topology', values='AvgPubDuration')
-
-    # Transpose the DataFrames
-    transposed_avg_sub_latency_df = avg_sub_latency_df.T
-    transposed_avg_pub_duration_df = avg_pub_duration_df.T
-
-    # Print the transposed CSV tables to console
-    print("Transposed AvgSubLatency Table:")
-    print(transposed_avg_sub_latency_df.to_csv(sep=","))
-    print("\nTransposed AvgPubDuration Table:")
-    print(transposed_avg_pub_duration_df.to_csv(sep=","))
-
-if __name__ == "__main__":
-    if len(sys.argv) != 2:
-        print("Usage: python script.py input.vcs")
-        sys.exit(1)
-    
-    vcs_file = sys.argv[1]
-    generate_csv_tables(vcs_file)
diff --git a/irobot_benchmark/comms_benchmark/scripts/parse-results/plot_cpu_memory.py b/irobot_benchmark/comms_benchmark/scripts/parse-results/plot_cpu_memory.py
deleted file mode 100644
index 98f45602..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/parse-results/plot_cpu_memory.py
+++ /dev/null
@@ -1,89 +0,0 @@
-import sys
-import os
-import pandas as pd
-import numpy as np
-import matplotlib.pyplot as plt
-
-def process_directory(directory):
-    file_path = os.path.join(directory, "resources.txt")
-
-    # Read the file
-    resources_data = pd.read_csv(file_path)
-
-    # Extract CPU percentage, RSS memory, and VSZ memory
-    cpu_perc = resources_data['cpu_perc'].astype(float)
-    rss_KB = resources_data['rss_KB'].astype(float)
-    vsz_KB = resources_data['vsz_KB'].astype(float)
-    time_ms = resources_data['time_ms']
-
-    return time_ms, cpu_perc, rss_KB, vsz_KB
-
-if len(sys.argv) < 2:
-    print("Usage: python3 plot_metrics.py <directory1> <directory2> ...")
-    sys.exit(1)
-
-directories = sys.argv[1:]
-
-# Lists to store data from all directories
-all_time_ms = []
-all_cpu_perc = []
-all_rss_MB = []
-all_vsz_MB = []
-
-# CSV output file
-csv_output_file = "average_metrics.csv"
-
-# Process each directory and collect data
-with open(csv_output_file, 'w') as csv_file:
-    csv_file.write("Directory,Average_CPU,Average_RSS_MB,Average_VSZ_MB\n")
-
-    for directory in directories:
-        time_ms, cpu_perc, rss_KB, vsz_KB = process_directory(directory)
-        all_time_ms.append(time_ms)
-        all_cpu_perc.append(cpu_perc)
-        all_rss_MB.append(rss_KB / 1024)  # Convert from KB to MB
-        all_vsz_MB.append(vsz_KB / 1024)  # Convert from KB to MB
-
-        # Compute average metrics for the current directory
-        average_cpu = round(np.mean(cpu_perc), 2)
-        average_rss_MB = round(np.mean(rss_KB) / 1024, 2)  # Convert from KB to MB
-        average_vsz_MB = round(np.mean(vsz_KB) / 1024, 2)  # Convert from KB to MB
-
-        # Print and write average metrics in CSV format
-        csv_file.write(f"{directory},{average_cpu},{average_rss_MB},{average_vsz_MB}\n")
-        if directory == directories[0]:  # Print column titles only once
-            print("Directory,Average_CPU,Average_RSS_MB,Average_VSZ_MB")
-        print(f"{directory},{average_cpu},{average_rss_MB},{average_vsz_MB}")
-
-# Plot CPU usage for all directories
-plt.figure(figsize=(8, 5))
-for time_ms, cpu_perc, directory in zip(all_time_ms, all_cpu_perc, directories):
-    plt.plot(time_ms.values, cpu_perc, label=f'CPU_{directory}')
-plt.xlabel('Time (ms)')
-plt.ylabel('CPU Percentage')
-plt.title('CPU Usage over Time')
-plt.grid(True)
-plt.legend()
-plt.show()
-
-# Plot RSS memory for all directories
-plt.figure(figsize=(8, 5))
-for time_ms, rss_MB, directory in zip(all_time_ms, all_rss_MB, directories):
-    plt.plot(time_ms.values, rss_MB, label=f'RSS_{directory}')
-plt.xlabel('Time (ms)')
-plt.ylabel('RSS Memory (MB)')
-plt.title('RSS Memory over Time')
-plt.grid(True)
-plt.legend()
-plt.show()
-
-# Plot VSZ memory for all directories
-plt.figure(figsize=(8, 5))
-for time_ms, vsz_MB, directory in zip(all_time_ms, all_vsz_MB, directories):
-    plt.plot(time_ms.values, vsz_MB, label=f'VSZ_{directory}')
-plt.xlabel('Time (ms)')
-plt.ylabel('VSZ Memory (MB)')
-plt.title('VSZ Memory over Time')
-plt.grid(True)
-plt.legend()
-plt.show()
diff --git a/irobot_benchmark/comms_benchmark/scripts/parse-results/plot_latency.py b/irobot_benchmark/comms_benchmark/scripts/parse-results/plot_latency.py
deleted file mode 100644
index f8dc84f7..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/parse-results/plot_latency.py
+++ /dev/null
@@ -1,132 +0,0 @@
-import sys
-import os
-import pandas as pd
-import numpy as np
-import matplotlib.pyplot as plt
-
-def process_directory(directory):
-    file_path = os.path.join(directory, "latency_all.txt")
-
-    # Read the file
-    with open(file_path, "r") as file:
-        lines = file.readlines()
-
-    # Find the start index of subscription and publisher sections
-    sub_start = lines.index("Subscriptions stats:\n") + 1
-    pub_start = lines.index("Publishers stats:\n") + 1
-
-    # Find the end index of subscription and publisher sections
-    sub_end = next((i for i, line in enumerate(lines[sub_start:], start=sub_start) if line.startswith("Publishers stats:") or line == "\n"), len(lines))
-    pub_end = len(lines)
-
-    # Read subscriptions data into a pandas DataFrame
-    subscriptions_data = pd.read_csv(
-        file_path,
-        skiprows=sub_start,
-        nrows=sub_end - sub_start - 1,  # Skip the last row containing "Publishers stats:" or the next section
-        skipinitialspace=True
-    )
-
-    # Read publishers data into a pandas DataFrame
-    publishers_data = pd.read_csv(
-        file_path,
-        skiprows=pub_start,
-        nrows=pub_end - pub_start - 1,  # Exclude the last line containing a newline character
-        skipinitialspace=True
-    )
-
-    # Find the position of "mean_us" and "sd_us" in subscription data
-    sub_mean_col_index = subscriptions_data.columns.get_loc("mean_us")
-    sub_std_col_index = subscriptions_data.columns.get_loc("sd_us")
-
-    # Extract mean_us and sd_us values from subscriptions data
-    sub_mean_values = subscriptions_data.iloc[:, sub_mean_col_index].tolist()
-    sub_std_values = subscriptions_data.iloc[:, sub_std_col_index].tolist()
-    sub_topics = subscriptions_data['topic'].tolist()
-
-    # Calculate average latency and standard deviation for subscriptions
-    sub_avg_latency = np.nanmean(sub_mean_values)
-    sub_avg_std_dev = np.nanmean(sub_std_values)
-
-    # Find the position of "mean_us" and "sd_us" in publisher data
-    pub_mean_col_index = publishers_data.columns.get_loc("mean_us")
-    pub_std_col_index = publishers_data.columns.get_loc("sd_us")
-
-    # Extract mean_us and sd_us values from publisher data
-    pub_mean_values = publishers_data.iloc[:, pub_mean_col_index].tolist()
-    pub_std_values = publishers_data.iloc[:, pub_std_col_index].tolist()
-    pub_topics = publishers_data['topic'].tolist()
-
-    # Calculate average latency and standard deviation for publishers
-    pub_avg_latency = np.nanmean(pub_mean_values)
-    pub_avg_std_dev = np.nanmean(pub_std_values)
-
-    return sub_mean_values, sub_std_values, sub_topics, sub_avg_latency, sub_avg_std_dev, pub_mean_values, pub_std_values, pub_topics, pub_avg_latency, pub_avg_std_dev
-
-
-if len(sys.argv) < 2:
-    print("Usage: python3 plot_latency.py <directory1> <directory2> ...")
-    sys.exit(1)
-
-directories = sys.argv[1:]
-
-sub_mean_values_combined = []
-sub_std_values_combined = []
-sub_topics_combined = []
-pub_mean_values_combined = []
-pub_std_values_combined = []
-pub_topics_combined = []
-
-# Lists to store average values
-avg_sub_latencies = []
-avg_pub_latencies = []
-
-# Process each directory
-for directory in directories:
-    sub_mean_values, sub_std_values, sub_topics, sub_avg_latency, sub_avg_std_dev, pub_mean_values, pub_std_values, pub_topics, pub_avg_latency, pub_avg_std_dev = process_directory(directory)
-
-    sub_mean_values_combined.append(sub_mean_values)
-    sub_std_values_combined.append(sub_std_values)
-    sub_topics_combined.append(sub_topics)
-    pub_mean_values_combined.append(pub_mean_values)
-    pub_std_values_combined.append(pub_std_values)
-    pub_topics_combined.append(pub_topics)
-
-    # Append average latency values
-    avg_sub_latencies.append(sub_avg_latency)
-    avg_pub_latencies.append(pub_avg_latency)
-
-    # Compute and print average metrics for the current directory
-    print(f"Directory: {directory}")
-    print("Average Latency for Subscriptions:", sub_avg_latency)
-    print("Average Latency for Publishers:", pub_avg_latency)
-    print()
-
-# Print combined statistics in CSV format
-print("Directory,Pub_avg_latency,Sub_avg_latency")
-for directory, avg_pub_latency, avg_sub_latency in zip(directories, avg_pub_latencies, avg_sub_latencies):
-    print(f"{directory},{avg_pub_latency},{avg_sub_latency}")
-
-# Plot combined data
-plt.figure(figsize=(10, 5))
-for i, (sub_mean_values, sub_std_values, sub_topics) in enumerate(zip(sub_mean_values_combined, sub_std_values_combined, sub_topics_combined)):
-    plt.errorbar(range(len(sub_mean_values)), sub_mean_values, yerr=sub_std_values, fmt='o', label=f'Subscriptions {directories[i]}')
-
-    # Calculate and plot horizontal line for the average of mean_us
-    # avg_mean_us_sub = np.mean(sub_mean_values)
-    # plt.axhline(y=avg_mean_us_sub, color='r', linestyle='--', label=f'Avg Mean {directories[i]}: {avg_mean_us_sub:.2f} us')
-
-for i, (pub_mean_values, pub_std_values, pub_topics) in enumerate(zip(pub_mean_values_combined, pub_std_values_combined, pub_topics_combined)):
-    plt.errorbar(range(len(pub_mean_values)), pub_mean_values, yerr=pub_std_values, fmt='o', label=f'Publishers {directories[i]}')
-
-    # Calculate and plot horizontal line for the average of mean_us
-    # avg_mean_us_pub = np.mean(pub_mean_values)
-    # plt.axhline(y=avg_mean_us_pub, color='g', linestyle='--', label=f'Avg Mean {directories[i]}: {avg_mean_us_pub:.2f} us')
-
-plt.xticks(range(max(len(sub_mean_values_combined[0]), len(pub_mean_values_combined[0]))), sub_topics_combined[0], rotation=45, ha='right')
-plt.xlabel('Index')
-plt.ylabel('Latency (us)')
-plt.title('Combined Latency Stats')
-plt.legend()
-plt.grid(True)
-plt.show()
diff --git a/irobot_benchmark/comms_benchmark/scripts/parse-results/single_process_benchmarks_plot_results.sh b/irobot_benchmark/comms_benchmark/scripts/parse-results/single_process_benchmarks_plot_results.sh
deleted file mode 100755
index 601c432d..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/parse-results/single_process_benchmarks_plot_results.sh
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/bin/bash
-
-# Get the directory where the script is located
-script_dir=$(dirname "$(readlink -f "$0")")
-scripts="${script_dir}/../../scripts"
-
-topologies=("pub_sub_10b" "pub_sub_100kb" "pub_sub_1mb" "pub_sub_4mb" "sierra_nevada_fixed_size" "white_mountain_fixed_size")
-comms=("ipc_on" "ipc_off" "loaned")
-
-for topology in "${topologies[@]}"; do
-    python_args=()
-    for comm in "${comms[@]}"; do
-        python_args+=("../results_single_process/${topology}/${comm}")
-    done
-    python3 $scripts/plot_cpu.py "${python_args[@]}"
-    python3 $scripts/plot_latency.py "${python_args[@]}"
-done
diff --git a/irobot_benchmark/comms_benchmark/scripts/parse-results/split_latency_all.py b/irobot_benchmark/comms_benchmark/scripts/parse-results/split_latency_all.py
deleted file mode 100755
index aed4a825..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/parse-results/split_latency_all.py
+++ /dev/null
@@ -1,53 +0,0 @@
-import os
-import sys
-
-def extract_sections(file_path):
-    with open(file_path, 'r') as f:
-        lines = f.readlines()
-
-    subscriptions_started = False
-    publishers_started = False
-    sub_lines = []
-    pub_lines = []
-
-    for line in lines:
-        if "Subscriptions stats:" in line:
-            subscriptions_started = True
-            continue
-        elif "Publishers stats:" in line:
-            publishers_started = True
-            subscriptions_started = False
-            continue
-        elif subscriptions_started:
-            if line.strip():
-                sub_lines.append(line)
-        elif publishers_started:
-            if line.strip():
-                pub_lines.append(line)
-
-    return sub_lines, pub_lines
-
-def process_directory(directory):
-    for root, dirs, files in os.walk(directory):
-        for file in files:
-            if file == 'latency_all.txt':
-                file_path = os.path.join(root, file)
-                sub_lines, pub_lines = extract_sections(file_path)
-                save_to_csv(sub_lines, os.path.join(root, "sub_latency.csv"))
-                save_to_csv(pub_lines, os.path.join(root, "pub_duration.csv"))
-
-def save_to_csv(lines, filename):
-    with open(filename, 'w') as f:
-        f.writelines(lines)
-
-if __name__ == "__main__":
-    if len(sys.argv) != 2:
-        print("Usage: python script.py <directory>")
-        sys.exit(1)
-
-    directory = sys.argv[1]
-    if not os.path.isdir(directory):
-        print("Error: Directory '{}' not found!".format(directory))
-        sys.exit(1)
-
-    process_directory(directory)
diff --git a/irobot_benchmark/comms_benchmark/scripts/pub-sub/run_mix_process_benchmarks.sh b/irobot_benchmark/comms_benchmark/scripts/pub-sub/run_mix_process_benchmarks.sh
deleted file mode 100644
index de1b393c..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/pub-sub/run_mix_process_benchmarks.sh
+++ /dev/null
@@ -1,89 +0,0 @@
-#!/bin/bash
-
-# Set governor to performance
-echo "echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor"
-echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor
-
-# Get the directory where the script is located
-script_dir=$(dirname "$(readlink -f "$0")")
-irobot_benchmark="${script_dir}/../../../irobot_benchmark"
-topologies_dir="${script_dir}/../../topologies/pub-sub"
-profiles_dir="${script_dir}/../../profiles"
-
-# Create a directory to store log folders
-MP="${PWD}/results_mix_process"
-rm -rf $MP && mkdir -p $MP
-
-# Define message sizes and communication types
-comms=("ipc_off" "loaned_fastdds" "loaned_cyclone")
-
-# Name of the results folders
-results=("10b" "100kb" "1mb" "4mb" "sierra_nevada_fixed_size" "white_mountain_fixed_size")
-# Define topologies pairs
-topology1=("pub_sub_10b" "pub_sub_100kb" "pub_sub_1mb" "pub_sub_4mb" "sierra_nevada_fixed_size" "white_mountain_fixed_size")
-topology2=("sub_10b" "sub_100kb" "sub_1mb" "sub_4mb" "debug_sierra_nevada_fixed_size" "debug_white_mountain_fixed_size")
-
-# Somehow an external host should synchronize and run also "topology 2"
-# topology2=("sub_10b" "sub_100kb" "sub_1mb" "sub_4mb" "debug_sierra_nevada_fixed_size" "debug_white_mountain_fixed_size")
-# The script "run_single_process_benchmarks could be of help for that"
-
-# Check if iox-roudi is running, needed for CycloneDDS zero-copy
-if ! pgrep -x "iox-roudi" > /dev/null
-then
-    echo "CycloneDDS: iox-roudi is NOT running. Run as: ./iox-roudi -c roudi_config.toml"
-fi
-
-# Loop through each index in the topology1 array
-for i in "${!topology1[@]}"; do
-    t1=${topology1[i]}
-    t2=${topology2[i]}
-    res=${results[i]}
-
-    for comm in "${comms[@]}"; do
-        result_folder="$MP/${res}/${comm}"
-        mkdir -p $result_folder
-
-        # Set environment variables
-        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-
-        if [ "$comm" == "loaned_fastdds" ]; then
-            echo "Using FastDDS config: shared_memory_fastdds_preallocated_w_realloc.xml"
-            export FASTRTPS_DEFAULT_PROFILES_FILE="${profiles_dir}/shared_memory_fastdds_preallocated_w_realloc.xml"
-            export RMW_FASTRTPS_USE_QOS_FROM_XML=1
-        fi
-
-         # Set environment variables for "loaned" communication type
-        if [ "$comm" == "loaned_cyclone" ]; then
-            echo "Using CycloneDDS config: zero-copy-shm.xml"
-            export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-            export CYCLONEDDS_URI="${profiles_dir}/zero-copy-shm.xml"
-        fi
-
-        # Set right topology for shared memory
-        if [ "$comm" == "loaned_fastdds" ]; then
-            top="${topologies_dir}/${t1}_loaned.json"
-        else
-            top="${topologies_dir}/${t1}.json"
-        fi
-
-        debug_topology="${topologies_dir}/${t2}.json"
-
-        # Results folder
-
-        # Run the command
-        COMMAND="${irobot_benchmark} $top $debug_topology -x 3 --ipc off -t 60 -s 1000 --csv-out on"
-        # COMMAND="${irobot_benchmark} $top $debug_topology -x 3 --ipc off -t 60 -s 1000 --csv-out on --timers-separate-thread on"
-        echo -e "\nCommand: \n$COMMAND\n"
-        eval $COMMAND
-
-        # Move log folders
-        mv *log $result_folder
-
-        # Unset environment variables after running "loaned_fastdds" command
-        if [[ "$comm" == "loaned_fastdds" || "$comm" == "loaned_cyclone" ]]; then
-            unset FASTRTPS_DEFAULT_PROFILES_FILE
-            unset RMW_FASTRTPS_USE_QOS_FROM_XML
-            unset CYCLONEDDS_URI
-        fi
-    done
-done
diff --git a/irobot_benchmark/comms_benchmark/scripts/pub-sub/run_multi_process_benchmarks.sh b/irobot_benchmark/comms_benchmark/scripts/pub-sub/run_multi_process_benchmarks.sh
deleted file mode 100644
index 7c7c95ec..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/pub-sub/run_multi_process_benchmarks.sh
+++ /dev/null
@@ -1,80 +0,0 @@
-#!/bin/bash
-
-# Set governor to performance
-echo "echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor"
-echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor
-
-# Get the directory where the script is located
-script_dir=$(dirname "$(readlink -f "$0")")
-irobot_benchmark="${script_dir}/../../../irobot_benchmark"
-topologies_dir="${script_dir}/../../topologies/pub-sub"
-profiles_dir="${script_dir}/../../profiles"
-
-# Create a directory to store log folders
-MP="${PWD}/results_multi_process"
-rm -rf $MP && mkdir -p $MP
-
-# Define message sizes and communication types
-comms=("ipc_off" "loaned_fastdds" "loaned_cyclone")
-
-# Define topologies pairs
-results=("10b" "100kb" "1mb" "4mb")
-topology1=("pub_10b" "pub_100kb" "pub_1mb" "pub_4mb")
-topology2=("sub_10b" "sub_100kb" "sub_1mb" "sub_4mb")
-
-# Check if iox-roudi is running, needed for CycloneDDS zero-copy
-if ! pgrep -x "iox-roudi" > /dev/null
-then
-    echo "CycloneDDS: iox-roudi is NOT running. Run as: ./iox-roudi -c roudi_config.toml"
-fi
-
-# Loop through each index in the topology1 array
-for i in "${!topology1[@]}"; do
-    t1=${topology1[i]}
-    t2=${topology2[i]}
-    res=${results[i]}
-
-    for comm in "${comms[@]}"; do
-        mkdir -p $MP/${res}/${comm}
-
-        # Set environment variables for "loaned" communication type
-        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-
-        if [ "$comm" == "loaned_fastdds" ]; then
-            export FASTRTPS_DEFAULT_PROFILES_FILE="${profiles_dir}/shared_memory_fastdds_preallocated_w_realloc.xml"
-            export RMW_FASTRTPS_USE_QOS_FROM_XML=1
-        fi
-
-        # Set environment variables for "loaned" communication type
-        if [ "$comm" == "loaned_cyclone" ]; then
-            export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-            export CYCLONEDDS_URI="${profiles_dir}/zero-copy-shm.xml"
-        fi
-
-
-        # Topology
-        if [[ "$comm" == "loaned_fastdds" || "$comm" == "loaned_cyclone" ]]; then
-            top="${topologies_dir}/${t1}_loaned.json"
-        else
-            top="${topologies_dir}/${t1}.json"
-        fi
-
-        debug_topology="${topologies_dir}/${t2}.json"
-
-        # Results folder
-
-        # Run the command
-        COMMAND="${irobot_benchmark} $top $debug_topology -x 3 --ipc off -t 60 -s 1000 --csv-out on"
-        echo -e "\nCommand: \n$COMMAND\n"
-        eval $COMMAND
-
-        # Move log folders
-        mv *log $MP/${res}/${comm}
-
-        # Unset environment variables after running "loaned" command
-        if [[ "$comm" == "loaned_fastdds" || "$comm" == "loaned_cyclone" ]]; then
-            unset FASTRTPS_DEFAULT_PROFILES_FILE
-            unset RMW_FASTRTPS_USE_QOS_FROM_XML
-        fi
-    done
-done
diff --git a/irobot_benchmark/comms_benchmark/scripts/pub-sub/run_single_process_benchmarks.sh b/irobot_benchmark/comms_benchmark/scripts/pub-sub/run_single_process_benchmarks.sh
deleted file mode 100644
index dcbc6cb7..00000000
--- a/irobot_benchmark/comms_benchmark/scripts/pub-sub/run_single_process_benchmarks.sh
+++ /dev/null
@@ -1,87 +0,0 @@
-#!/bin/bash
-
-# Set governor to performance
-echo "echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor"
-echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor
-
-# Get the directory where the script is located
-script_dir=$(dirname "$(readlink -f "$0")")
-irobot_benchmark="${script_dir}/../../../irobot_benchmark"
-topologies_dir="${script_dir}/../../topologies/pub-sub"
-profiles_dir="${script_dir}/../../profiles"
-
-# Create a directory to store log folders
-SP="${PWD}/results_single_process/"
-rm -rf $SP && mkdir -p $SP
-
-# Define message sizes and communication types
-comms=("ipc_on" "ipc_off" "loaned_fastdds" "loaned_cyclone")
-
-topologies=(
-  "pub_sub_10b"
-  "pub_sub_100kb"
-  "pub_sub_1mb"
-  "pub_sub_4mb"
-  "sierra_nevada_fixed_size"
-  "white_mountain_fixed_size"
-)
-
-# Check if iox-roudi is running, needed for CycloneDDS zero-copy
-if ! pgrep -x "iox-roudi" > /dev/null
-then
-    echo "CycloneDDS: iox-roudi is NOT running. Run as: ./iox-roudi -c roudi_config.toml"
-fi
-
-# Loop through each combination of topology and communication type
-for topology in "${topologies[@]}"; do
-    mkdir -p $SP/${topology}
-
-    for comm in "${comms[@]}"; do
-        # Set environment variables
-        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-
-        if [ "$comm" == "loaned_fastdds" ]; then
-            export FASTRTPS_DEFAULT_PROFILES_FILE="${profiles_dir}/shared_memory_fastdds_dynamic_reusable.xml"
-            export RMW_FASTRTPS_USE_QOS_FROM_XML=1
-        fi
-
-        # Set environment variables for "loaned" communication type
-        if [ "$comm" == "loaned_cyclone" ]; then
-            export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-            export CYCLONEDDS_URI="${profiles_dir}/zero-copy-shm.xml"
-        fi
-
-        # Construct the command based on communication type
-        if [ "$comm" == "ipc_on" ]; then
-            ipc_option="--ipc on"
-        else
-            ipc_option="--ipc off"
-        fi
-
-        # Set right topology for shared memory
-        if [[ "$comm" == "loaned_fastdds" || "$comm" == "loaned_cyclone" ]]; then
-            top="${topologies_dir}/${topology}_loaned.json"
-        else
-            top="${topologies_dir}/${topology}.json"
-        fi
-
-        # Results folder
-        result_folder=${comm}
-
-        # Run the command
-        COMMAND="${irobot_benchmark} $top -x 3 $ipc_option -t 30 -s 1000 --csv-out on --results-dir $result_folder"
-        # COMMAND="${irobot_benchmark} $top -x 3 $ipc_option -t 30 -s 1000 --csv-out on --results-dir $result_folder --timers-separate-thread on"
-        echo -e "\nCommand: \n$COMMAND\n"
-        eval $COMMAND
-
-        mv $result_folder $SP/${topology}
-
-        # Unset environment variables
-        if [[ "$comm" == "loaned_fastdds" || "$comm" == "loaned_cyclone" ]]; then
-            unset FASTRTPS_DEFAULT_PROFILES_FILE
-            unset RMW_FASTRTPS_USE_QOS_FROM_XML
-            unset CYCLONEDDS_URI
-        fi
-    done
-done
-
diff --git a/irobot_benchmark/comms_benchmark/scripts/requirements.sh b/irobot_benchmark/comms_benchmark/scripts/requirements.sh
new file mode 100755
index 00000000..7b481379
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/requirements.sh
@@ -0,0 +1,172 @@
+#!/bin/bash
+
+# Display help/usage instructions
+print_help() {
+  echo "Usage: $0 [FOLDER]"
+  echo
+  echo "This script analyzes benchmark requirements using CSV files from the specified folder."
+  echo "It is work in progress - not finished yet."
+  echo
+  echo "Arguments:"
+  echo "  FOLDER            Path to the folder containing 'average_latency.csv' and 'average_metrics.csv'."
+  echo
+  echo "Description:"
+  echo "  The script verifies multiple requirements by extracting and analyzing data from the provided CSV files."
+  echo
+  echo "Examples:"
+  echo "  $0 ./results_folder   Analyze data from the 'results_folder'."
+  echo
+  exit 0
+}
+
+# Check for help flag or no arguments
+if [[ "$1" == "--help" || "$1" == "-h" || -z "$1" ]]; then
+  print_help
+fi
+
+# Validate the folder argument
+folder="$1"
+if [[ ! -d "$folder" ]]; then
+  echo -e "\033[31m[ERROR] The folder '$folder' does not exist or is not accessible.\033[0m"
+  exit 1
+fi
+
+# Ensure required CSV files exist in the folder
+latency_csv="${folder}/average_latency.csv"
+metrics_csv="${folder}/average_metrics.csv"
+if [[ ! -f "$latency_csv" || ! -f "$metrics_csv" ]]; then
+  echo -e "\033[31m[ERROR] Missing 'average_latency.csv' or 'average_metrics.csv' in folder '$folder'.\033[0m"
+  exit 1
+fi
+
+echo "Analyzing CSV files from folder: $folder"
+
+# ------------------------------------------------------------------------------------------------------------
+echo "### 1. Latency Consistency Across Message Sizes"
+echo -e "Requirement: CPU and latency should not depend on message size for single-process applications. \n"
+output=$(cat "$latency_csv" | grep pub-sub | grep single | grep loaned | grep fast)
+echo -e "rclcpp intra-process on: \n"
+head -n 1 "$latency_csv"
+echo -e "$output \n"
+output=$(cat "$latency_csv" | grep pub-sub | grep single | grep ipc_off | grep fast)
+echo -e "Shared Memory (Loaned messages): \n"
+head -n 1 "$latency_csv"
+echo -e "$output \n"
+output=$(cat "$latency_csv" | grep pub-sub | grep single | grep ipc_on | grep fast)
+# ------------------------------------------------------------------------------------------------------------
+
+# ------------------------------------------------------------------------------------------------------------
+echo -e "### 2. Latency and CPU Comparison: Multi-Process vs Single-Process \n"
+echo -e "Requirement: Multi-process latency/CPU should be ≈ single-process for POD message types. \n"
+echo -e "Multi-Process (Shared Memory): \n"
+latency_output=$(cat "$latency_csv" | grep pub-sub | grep multi | grep loaned | grep fast)
+echo -e "Latency: \n"
+head -n 1 "$latency_csv"
+echo -e "$latency_output \n"
+metrics_output=$(cat "$metrics_csv" | grep pub-sub | grep multi | grep loaned | grep fast)
+echo -e "Metrics: \n"
+head -n 1 "$metrics_csv"
+echo -e "$metrics_output \n"
+echo -e "Single-Process (Shared Memory): \n"
+latency_output=$(cat "$latency_csv" | grep pub-sub | grep single | grep loaned | grep fast)
+echo -e "Latency: \n"
+head -n 1 "$latency_csv"
+echo -e "$latency_output \n"
+metrics_output=$(cat "$metrics_csv" | grep pub-sub | grep single | grep loaned | grep fast)
+echo -e "Metrics: \n"
+head -n 1 "$metrics_csv"
+echo -e "$metrics_output \n"
+# ------------------------------------------------------------------------------------------------------------
+
+# ------------------------------------------------------------------------------------------------------------
+echo -e "### 3. Long-Running Stability \n"
+echo -e "Requirement: CPU, latency, and RAM must remain constant over long durations (>10 minutes). \n"
+latency_output=$(cat average_latency.csv | grep white_mountain_fixed_size | grep loaned | grep fast)
+echo -e "Latency: \n"
+head -n 1 average_latency.csv
+echo -e "$latency_output \n"
+metrics_output=$(cat average_metrics.csv | grep white_mountain_fixed_size | grep loaned | grep fast)
+echo -e "Metrics: \n"
+head -n 1 average_metrics.csv
+echo -e "$metrics_output \n"
+# ------------------------------------------------------------------------------------------------------------
+
+# ------------------------------------------------------------------------------------------------------------
+echo -e "### 4. Multi-Transport Communication \n"
+echo -e "Requirement: Combining multiple transports should not degrade performance. \n"
+latency_output=$(cat average_latency.csv | grep pub-sub | grep mix_process | grep loaned | grep fast)
+echo -e "Latency: \n"
+head -n 1 average_latency.csv
+echo -e "$latency_output \n"
+metrics_output=$(cat average_metrics.csv | grep pub-sub | grep mix_process | grep loaned | grep fast)
+echo -e "Metrics: \n"
+head -n 1 average_metrics.csv
+echo -e "$metrics_output \n"
+# ------------------------------------------------------------------------------------------------------------
+
+# ------------------------------------------------------------------------------------------------------------
+echo -e "### 5. Scalability with Number of Clients (Services) \n"
+echo -e "Requirement: Service performance depends only on active clients, not the total number. \n"
+latency_output=$(cat average_latency.csv | grep cli-srv | grep multi | grep loaned | grep fast)
+echo -e "Latency: \n"
+head -n 1 average_latency.csv
+echo -e "$latency_output \n"
+metrics_output=$(cat average_metrics.csv | grep cli-srv | grep multi | grep loaned | grep fast)
+echo -e "Metrics: \n"
+head -n 1 average_metrics.csv
+echo -e "$metrics_output \n"
+# ------------------------------------------------------------------------------------------------------------
+
+# ------------------------------------------------------------------------------------------------------------
+echo -e "### 6. Scalability with Number of Clients (Actions) \n"
+echo -e "Requirement: Action performance depends only on active clients, not the total number. \n"
+latency_output=$(cat average_latency.csv | grep action | grep multi | grep loaned | grep fast)
+echo -e "Latency: \n"
+head -n 1 average_latency.csv
+echo -e "$latency_output \n"
+metrics_output=$(cat average_metrics.csv | grep action | grep multi | grep loaned | grep fast)
+echo -e "Metrics: \n"
+head -n 1 average_metrics.csv
+echo -e "$metrics_output \n"
+# ------------------------------------------------------------------------------------------------------------
+
+# ------------------------------------------------------------------------------------------------------------
+echo -e "### 7. CPU Overhead with Remote Subscribers \n"
+echo -e "Requirement: Adding remote subscribers should add <10% CPU overhead. \n"
+metrics_output_1mb=$(cat average_metrics.csv | grep pub-sub | grep mix_process | grep loaned | grep fast | grep 1mb)
+echo -e "1MB Metrics: \n"
+head -n 1 average_metrics.csv
+echo -e "$metrics_output_1mb \n"
+metrics_output_4mb=$(cat average_metrics.csv | grep pub-sub | grep mix_process | grep loaned | grep fast | grep 4mb)
+echo -e "4MB Metrics: \n"
+head -n 1 average_metrics.csv
+echo -e "$metrics_output_4mb \n"
+# ------------------------------------------------------------------------------------------------------------
+
+# ------------------------------------------------------------------------------------------------------------
+echo -e "### 8. Scalability of RAM Usage \n"
+echo -e "Requirement: RAM usage scales linearly with processes or entities. \n"
+metrics_output_pubsub=$(cat average_metrics.csv | grep pub-sub | grep multi | grep loaned | grep fast)
+echo -e "Pub-Sub Metrics: \n"
+head -n 1 average_metrics.csv
+echo -e "$metrics_output_pubsub \n"
+metrics_output_clisrv=$(cat average_metrics.csv | grep cli-srv | grep multi | grep loaned | grep fast)
+echo -e "CLI-SRV Metrics: \n"
+head -n 1 average_metrics.csv
+echo -e "$metrics_output_clisrv \n"
+# ------------------------------------------------------------------------------------------------------------
+
+# ------------------------------------------------------------------------------------------------------------
+echo -e "### 9. Lifecycle Mechanism Efficiency \n"
+echo -e "Requirement: Autocore lifecycle mechanisms must have less CPU overhead than callback-based 'early return'. \n"
+echo -e ".. no command for this yet .. \n"
+
+echo -e "### 10. Flash Size Limit \n"
+echo -e "Requirement: Total flash size of Autocore RMW and dependencies must be <4MB. \n"
+echo -e ".. no command for this yet .. \n"
+
+echo -e "### 11. Baseline Comparison \n"
+echo -e "Requirement: Autocore RMW must show no regressions compared to Fast-DDS. \n"
+echo -e "Run all relevant commands for both 'fast' and 'cyclone' entries. \n"
+echo -e ".. no automated script yet .. \n"
+# ------------------------------------------------------------------------------------------------------------
diff --git a/irobot_benchmark/comms_benchmark/scripts/run_all_benchmarks.sh b/irobot_benchmark/comms_benchmark/scripts/run_all_benchmarks.sh
new file mode 100755
index 00000000..88fb788b
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/run_all_benchmarks.sh
@@ -0,0 +1,111 @@
+#!/bin/bash
+
+# Display help/usage instructions
+print_help() {
+  echo "Usage: $0 [OPTIONS] [TEST_DURATION]"
+  echo
+  echo "This script automates running benchmarks for single-process, multi-process,"
+  echo "and mixed-process configurations, organizes the results, and processes them for analysis."
+  echo
+  echo "Options:"
+  echo "  --help, -h        Display this help message."
+  echo
+  echo "Arguments:"
+  echo "  TEST_DURATION     Time in seconds to run each benchmark. Defaults to 1 if not provided."
+  echo
+  echo "Description:"
+  echo "  1. Benchmarks are categorized as:"
+  echo "     - Single-process benchmarks [pub_sub, cli_srv, actions]."
+  echo "     - Multi-process benchmarks [pub_sub, cli_srv, actions]"
+  echo "     - Mix-process benchmarks [pub_sub, cli_srv, actions]"
+  echo
+  echo "  2. Results are stored in a timestamped directory (e.g., results_29_11_24_18h51)."
+  echo
+  echo "  3. Parsing includes: (Uses python3 & dependencies)"
+  echo "     - Comparing CPU, Memory & Latency (compare_metrics.py)."
+  echo "     - Comparing Latency metrics (compare_latency.py)."
+  echo
+  echo "Example:"
+  echo "  sudo env LD_LIBRARY_PATH=\$LD_LIBRARY_PATH $0 10            Run benchmarks with TEST_DURATION=10 seconds."
+  echo
+  echo "Needed because sudo resets LD_LIBRARY_PATH, breaking shared library access."
+  echo
+  exit 0
+}
+
+# Check for help flag
+if [[ "$1" == "--help" || "$1" == "-h" ]]; then
+  print_help
+fi
+
+# Check if the script is run as root
+if [[ $EUID -ne 0 ]]; then
+  echo "You must run this script with sudo or as root."
+  echo "Usage: sudo env LD_LIBRARY_PATH=\$LD_LIBRARY_PATH $0 [arguments]"
+  exit 1
+fi
+
+# Set TEST_DURATION
+TEST_DURATION=${1:-1}  # Default to 1 second if not provided
+
+# Create the results directory
+current_date=$(date +"%d_%m_%y_%Hh%M")
+results_dir="results_${current_date}"
+mkdir -p "$results_dir"
+echo "Storing results in $results_dir"
+
+run_benchmark() {
+  local script=$1
+  local config=$2
+
+  echo "Running: $script with config: $config and test duration=$TEST_DURATION"
+  TEST_DURATION="$TEST_DURATION" bash "$script" "$config"
+  local exit_code=$?
+
+  if [ $exit_code -ne 0 ]; then
+    echo -e "\033[31m[ERROR] $script $config failed with exit code $exit_code\033[0m"
+    exit $exit_code
+  else
+    echo -e "\033[32m[SUCCESS] $script $config completed successfully\033[0m"
+  fi
+}
+
+# Single-process benchmarks
+echo "Starting single-process benchmarks..."
+cd single-process
+run_benchmark "run_single_process_benchmark.sh" "pub_sub.conf"
+run_benchmark "run_single_process_benchmark.sh" "cli_srv.conf"
+run_benchmark "run_single_process_benchmark.sh" "actions.conf"
+cd -
+
+# Multi-process benchmarks
+echo "Starting multi-process benchmarks..."
+cd multi-process
+run_benchmark "run_multi_process_benchmark.sh" "multi_process_pub_sub.conf"
+run_benchmark "run_multi_process_benchmark.sh" "multi_process_cli_srv.conf"
+run_benchmark "run_multi_process_benchmark.sh" "multi_process_actions.conf"
+
+# Mix-process benchmarks
+echo "Starting mix-process benchmarks..."
+run_benchmark "run_multi_process_benchmark.sh" "mix_process_pub_sub.conf"
+run_benchmark "run_multi_process_benchmark.sh" "mix_process_cli_srv.conf"
+run_benchmark "run_multi_process_benchmark.sh" "mix_process_actions.conf"
+cd -
+
+# Move results to the results directory
+mv single-process/pub-sub* "$results_dir"
+mv single-process/cli-srv* "$results_dir"
+mv single-process/actions* "$results_dir"
+
+mv multi-process/pub-sub* "$results_dir"
+mv multi-process/cli-srv* "$results_dir"
+mv multi-process/actions* "$results_dir"
+
+# Parse results
+echo
+echo "To parse results run:"
+echo "  python3 parse-results/compare_metrics.py $results_dir --plot"
+echo "  python3 parse-results/compare_latency.py $results_dir --plot"
+echo
+echo "Remove --plot if no plot is needed."
+echo "If not already done, run 'pip3 install pandas numpy matplotlib' to install dependencies"
diff --git a/irobot_benchmark/comms_benchmark/scripts/set_cpu_governor.sh b/irobot_benchmark/comms_benchmark/scripts/set_cpu_governor.sh
new file mode 100755
index 00000000..1690aea1
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/set_cpu_governor.sh
@@ -0,0 +1,46 @@
+#!/bin/bash
+
+# Function to display help
+print_help() {
+  echo "Usage: $0 <governor>"
+  echo
+  echo "This script sets the CPU governor to the specified value for all policies."
+  echo
+  echo "Examples:"
+  echo "  $0 performance       # Set the CPU governor to 'performance'."
+  echo "  $0 powersave         # Set the CPU governor to 'powersave'."
+  echo
+  exit 0
+}
+
+# Check if arguments are provided
+if [[ $# -ne 1 || "$1" == "--help" || "$1" == "-h" ]]; then
+  print_help
+fi
+
+# Get the desired governor from the argument
+desired_governor="$1"
+
+# Ensure the CPU frequency scaling directory exists
+if [ ! -d "/sys/devices/system/cpu/cpufreq/" ]; then
+  echo -e "\033[31m[ERROR] CPU frequency scaling not supported on this system.\033[0m"
+  exit 1
+fi
+
+# Apply the specified governor to all policies
+echo "Setting CPU governor to '$desired_governor'..."
+for policy in /sys/devices/system/cpu/cpufreq/policy*/scaling_governor; do
+  if ! sudo echo "$desired_governor" > "$policy" 2>/dev/null; then
+    echo -e "\033[31m[ERROR] Permission denied while setting governor for $policy - run with sudo.\033[0m"
+    exit 1
+  fi
+done
+
+# Verify the change
+current_governor=$(cat /sys/devices/system/cpu/cpufreq/policy0/scaling_governor)
+if [ "$current_governor" != "$desired_governor" ]; then
+  echo -e "\033[31m[ERROR] Failed to set CPU governor to '$desired_governor'. Current value: '$current_governor'.\033[0m"
+  exit 1
+fi
+
+echo -e "\033[32m[SUCCESS] CPU governor set to '$desired_governor'.\033[0m"
diff --git a/irobot_benchmark/comms_benchmark/scripts/single-process/actions.conf b/irobot_benchmark/comms_benchmark/scripts/single-process/actions.conf
new file mode 100644
index 00000000..713930a2
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/single-process/actions.conf
@@ -0,0 +1,13 @@
+# Configuration for ActionClient/ActionServer benchmarks
+
+OUTPUT_DIR="actions_single_process"
+TOPOLOGIES_DIR="${SCRIPT_DIR}/../../topologies/actions"
+TOPOLOGIES=("cli_srv_10b" "cli_srv_100kb" "cli_srv_1mb" "cli_srv_4mb")
+
+# Define RMWs to iterate over
+RMW_LIST=("fastrtps" "cyclonedds")
+
+# Define COMMS and env vars for each RMW
+COMMS_fastrtps=("ipc_on" "ipc_off")
+COMMS_cyclonedds=("ipc_off")
+# COMMS_example=()
diff --git a/irobot_benchmark/comms_benchmark/scripts/single-process/cli_srv.conf b/irobot_benchmark/comms_benchmark/scripts/single-process/cli_srv.conf
new file mode 100644
index 00000000..9853bd7d
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/single-process/cli_srv.conf
@@ -0,0 +1,14 @@
+# Configuration for Client/Service benchmarks
+
+OUTPUT_DIR="cli-srv_single_process"
+TOPOLOGIES=("cli_srv_10b" "cli_srv_100kb" "cli_srv_1mb" "cli_srv_4mb" "10_cli_srv_1mb")
+TOPOLOGIES_DIR="${SCRIPT_DIR}/../../topologies/cli-srv"
+
+# Define RMWs to iterate over
+RMW_LIST=("fastrtps" "cyclonedds")
+
+# Define COMMS and env vars for each RMW
+COMMS_fastrtps=("ipc_on" "ipc_off")
+COMMS_cyclonedds=("ipc_off")
+
+# COMMS_example=()
diff --git a/irobot_benchmark/comms_benchmark/scripts/single-process/pub_sub.conf b/irobot_benchmark/comms_benchmark/scripts/single-process/pub_sub.conf
new file mode 100644
index 00000000..e4982487
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/single-process/pub_sub.conf
@@ -0,0 +1,25 @@
+# Configuration for Pub/Sub benchmarks
+
+OUTPUT_DIR="pub-sub_single_process"
+TOPOLOGIES=("pub_sub_10b" "pub_sub_100kb" "pub_sub_1mb" "pub_sub_4mb" "sierra_nevada_fixed_size" "white_mountain_fixed_size")
+
+TOPOLOGIES_DIR="${SCRIPT_DIR}/../../topologies/pub-sub"
+PROFILES_DIR="${SCRIPT_DIR}/../../profiles"
+
+# Define RMWs to iterate over
+RMW_LIST=("fastrtps" "cyclonedds")
+
+# Define COMMS and env vars for each RMW
+COMMS_fastrtps=("ipc_on" "ipc_off" "loaned")
+LOANED_ENV_VARS_fastrtps=(
+  "export FASTRTPS_DEFAULT_PROFILES_FILE=${PROFILES_DIR}/shared_memory_fastdds_preallocated_w_realloc.xml"
+  "export RMW_FASTRTPS_USE_QOS_FROM_XML=1"
+)
+
+COMMS_cyclonedds=("ipc_off")
+LOANED_ENV_VARS_cyclonedds=(
+  "export CYCLONEDDS_URI=${PROFILES_DIR}/shared_memory_cyclonedds.xml"
+)
+
+# COMMS_example=()
+# LOANED_ENV_VARS_example=()
diff --git a/irobot_benchmark/comms_benchmark/scripts/single-process/run_single_process_benchmark.sh b/irobot_benchmark/comms_benchmark/scripts/single-process/run_single_process_benchmark.sh
new file mode 100644
index 00000000..0581c1a6
--- /dev/null
+++ b/irobot_benchmark/comms_benchmark/scripts/single-process/run_single_process_benchmark.sh
@@ -0,0 +1,104 @@
+#!/bin/bash
+
+if [ "$#" -ne 1 ]; then
+  echo "Usage: $0 <config_file>"
+  exit 1
+fi
+
+# Define SCRIPT_DIR before sourcing the configuration file
+SCRIPT_DIR=$(dirname "$(readlink -f "$0")")
+
+# Load the configuration file
+CONFIG_FILE=$1
+if [ ! -f "$CONFIG_FILE" ]; then
+  echo -e "\033[31m[ERROR] Configuration file '$CONFIG_FILE' not found!\033[0m"
+  exit 1
+fi
+
+if [ -z "${TEST_DURATION}" ]; then
+  TEST_DURATION=1
+fi
+
+# Export SCRIPT_DIR for use in the configuration file
+export SCRIPT_DIR
+
+source "$CONFIG_FILE"
+
+# Load paths
+GOVERNOR_SCRIPT="${SCRIPT_DIR}/../set_cpu_governor.sh"
+IROBOT_BENCHMARK="${SCRIPT_DIR}/../../../irobot_benchmark"
+
+# Get the original governor
+original_governor=$(cat /sys/devices/system/cpu/cpufreq/policy0/scaling_governor)
+# Set the CPU governor to performance
+$GOVERNOR_SCRIPT performance
+# Restore the original governor on exit
+trap "$GOVERNOR_SCRIPT $original_governor" EXIT
+
+if [ $? -ne 0 ]; then
+  echo -e "\033[31m[ERROR] Failed to set CPU governor to performance. Exiting...\033[0m"
+  exit 1
+fi
+
+# Create a directory to store log folders
+SP="${PWD}/${OUTPUT_DIR}"
+rm -rf "$SP" && mkdir -p "$SP"
+
+for RMW in "${RMW_LIST[@]}"; do
+  echo -e "\033[32mProcessing RMW: $RMW\033[0m"
+
+  # Set RMW implementation
+  export RMW_IMPLEMENTATION="rmw_${RMW}_cpp"
+
+  # Resolve COMMS and LOANED_ENV_VARS dynamically
+  declare -n COMMS="COMMS_${RMW}"
+  declare -n LOANED_ENV_VARS="LOANED_ENV_VARS_${RMW}"
+  echo -e "\033[32m  COMMS for $RMW: ${COMMS[@]}\033[0m"
+  echo -e "\033[32m  LOANED_ENV_VARS for $RMW: \n     ${LOANED_ENV_VARS[@]}\033[0m"
+
+  for COMM in "${COMMS[@]}"; do
+    echo -e "\033[32m  Testing COMM: $COMM\033[0m"
+
+    # Handle loaned environment variables
+    if [[ "$COMM" == "loaned" ]]; then
+      for VAR in "${LOANED_ENV_VARS[@]}"; do
+        eval $VAR
+      done
+    fi
+
+    IPC_OPTION="--ipc off"
+    if [[ "$COMM" == "ipc_on" ]]; then
+      IPC_OPTION="--ipc on"
+    fi
+
+    for TOPOLOGY in "${TOPOLOGIES[@]}"; do
+      mkdir -p "$SP/${TOPOLOGY}/${RMW}_${COMM}"
+
+      # Set topology file dynamically from configuration
+      if [[ "$COMM" == "loaned" ]]; then
+        TOP="${TOPOLOGIES_DIR}/${TOPOLOGY}_loaned.json"
+      else
+        TOP="${TOPOLOGIES_DIR}/${TOPOLOGY}.json"
+      fi
+
+      # Results folder
+      RESULT_FOLDER="${RMW}_${COMM}"
+
+      # Run the command
+      COMMAND="${IROBOT_BENCHMARK} $TOP -x 3 $IPC_OPTION -t $TEST_DURATION -s 1000 --csv-out on --results-dir $RESULT_FOLDER"
+      echo -e "\033[32m\nCommand: \n$COMMAND\n\033[0m"
+      eval $COMMAND
+      if [ $? -ne 0 ]; then
+        echo -e "\033[31m[ERROR] Command failed: $COMMAND\033[0m"
+        exit 1
+      fi
+
+      mv "$RESULT_FOLDER" "$SP/${TOPOLOGY}/"
+    done
+
+    # Unset loaned environment variables if applicable
+    unset FASTRTPS_DEFAULT_PROFILES_FILE
+    unset RMW_FASTRTPS_USE_QOS_FROM_XML
+    unset CYCLONEDDS_URI
+  done
+done
diff --git a/irobot_benchmark/src/irobot_benchmark.cpp b/irobot_benchmark/src/irobot_benchmark.cpp
index fdf57baf..9407bc5b 100644
--- a/irobot_benchmark/src/irobot_benchmark.cpp
+++ b/irobot_benchmark/src/irobot_benchmark.cpp
@@ -50,7 +50,7 @@ create_result_directory(const std::string & topology_json, const std::string & r
 {
   std::string result_dir_name;
 
-  if (result_dir != "") {
+  if (!result_dir.empty()) {
     result_dir_name = result_dir;
   } else {
     size_t last_slash = topology_json.find_last_of("/");
diff --git a/irobot_benchmark/topology/sierra_nevada.json b/irobot_benchmark/topology/sierra_nevada.json
index 67a9d152..5a72a28b 100644
--- a/irobot_benchmark/topology/sierra_nevada.json
+++ b/irobot_benchmark/topology/sierra_nevada.json
@@ -39,7 +39,7 @@
             {"topic_name":"parana", "msg_type":"stamped3_float32"}
           ],
         "publishers": [
-            {"topic_name": "salween", "msg_type": "stamped12_float32", "period_ms": 100, "msg_pass_by":"shared_ptr"}
+            {"topic_name": "salween", "msg_type": "stamped12_float32", "period_ms": 100, "msg_pass_by":"loaned_msg"}
           ]
       },
 
diff --git a/performance_test_factory/src/factory.cpp b/performance_test_factory/src/factory.cpp
index fb735880..6fb3e402 100644
--- a/performance_test_factory/src/factory.cpp
+++ b/performance_test_factory/src/factory.cpp
@@ -638,7 +638,7 @@ void TemplateFactory::add_periodic_action_client_from_json(
   } else if (action_client_json.find("period_ms") != action_client_json.end()) {
     period_ms = action_client_json["period_ms"];
   } else {
-    std::cout << "Error! Action Clients must set period_ms or freq_hz in json file" << std::endl;
+    assert(0 && "Error! Action Clients must set period_ms or freq_hz in json file");
   }
 
   auto period = std::chrono::microseconds(static_cast<int>(period_ms * 1000));