build: add production robot profile

Author: jaagut

.github/workflows/build-benchmark.yml

@@ -41,6 +41,7 @@ jobs:
       - name: Measure clean and incremental builds
         run: >-
           python3 scripts/benchmark_build.py
+          --task build-robot-profile
           --output build-benchmark-${{ runner.arch }}.json
 
       - name: Show compiler cache statistics

pixi.toml

@@ -25,8 +25,13 @@ format = {cmd = "sh -c 'pre-commit run --all-files --hook-stage \"${PRE_COMMIT_S
 cmd = "colcon build --symlink-install --packages-skip zed_wrapper zed_components zed_msgs zed_ros2 --cmake-args -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
 description = "Builds all ROS 2 packages. Add --packages-select <package names> to build specific packages."
 
+[tasks.build-robot-profile]
+# Keep the package selection aligned with the default build so CI benchmark results remain comparable.
+cmd = "colcon build --symlink-install --packages-skip zed_wrapper zed_components zed_msgs zed_ros2 --cmake-args -G Ninja -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=OFF -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
+description = "Builds the CI-compatible package set with the production robot profile."
+
 [feature.robot.tasks.build]
-cmd = "colcon build --symlink-install --cmake-args -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
+cmd = "colcon build --symlink-install --cmake-args -G Ninja -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_TESTING=OFF -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_FLAGS='-Wall -Wextra -Werror -Wno-error=pedantic' -DCMAKE_CXX_FLAGS='-Wall -Wextra -Wpedantic -Werror' "
 description = "Builds all ROS 2 packages. Add --packages-select <package names> to build specific packages."
 
 [tasks.clean]

scripts/benchmark_build.py

@@ -37,6 +37,7 @@ def append_github_summary(results: dict[str, object], summary_path: Path) -> Non
         summary.write("| --- | ---: | ---: |\n")
         summary.write(f"| Clean | {clean['duration_seconds']:.2f} s | {clean['return_code']} |\n")
         summary.write(f"| Incremental | {incremental['duration_seconds']:.2f} s | {incremental['return_code']} |\n\n")
+        summary.write(f"Pixi task: `{results['task']}`\n\n")
         summary.write(f"Touched source: `{results['touched_source']}`\n")
 
 
@@ -53,6 +54,11 @@ def parse_args() -> argparse.Namespace:
         default=Path("build-benchmark.json"),
         help="JSON file that receives the benchmark results.",
     )
+    parser.add_argument(
+        "--task",
+        default="build",
+        help="Pixi task used for both measured builds.",
+    )
     parser.add_argument(
         "--source",
         type=Path,
@@ -71,16 +77,18 @@ def main() -> int:
         ["pixi", "run", "-e", args.environment, "clean"],
         check=True,
     )
-    clean_build = run_timed(["pixi", "run", "-e", args.environment, "build"])
+    build_command = ["pixi", "run", "-e", args.environment, args.task]
+    clean_build = run_timed(build_command)
 
     # Updating the timestamp makes the build system reconsider one translation unit.
     # The file content stays unchanged, allowing compiler caches to reuse their output.
     os.utime(args.source)
-    incremental_build = run_timed(["pixi", "run", "-e", args.environment, "build"])
+    incremental_build = run_timed(build_command)
 
     results = {
         "created_at": datetime.now(UTC).isoformat(),
         "environment": args.environment,
+        "task": args.task,
         "touched_source": str(args.source),
         "clean_build": clean_build,
         "incremental_build": incremental_build,