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Support actions / Add communication benchmarks directory #137

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24cf6b2
Remove option and always name threads
Apr 12, 2024
9def392
Remove irobot_events_executor dependency
Oct 15, 2024
0f646cf
Add option to create results directory
Apr 12, 2024
5d4e998
Show latency even if msg arrived late
Oct 16, 2024
2fdd9bc
warning if negative latency for multi-host benchmarks
Oct 15, 2024
e67baa4
Improve error handling in data parsing and file operations
Oct 15, 2024
d50eebd
Support Actions and add comms_benchmark dir
Apr 12, 2024
b95c2e4
Add latency over time computation
Dec 13, 2024
08f967b
Address PR comments
Nov 26, 2024
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2 changes: 1 addition & 1 deletion composition_benchmark/apps/base_publisher_main.cpp
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Expand Up @@ -51,7 +51,7 @@ int main(int argc, char ** argv)
performance_test::SpinType::SPIN);

system->add_nodes(nodes);
system->spin(MAX_HOURS, false, false);
system->spin(MAX_HOURS, false);

rclcpp::shutdown();
}
2 changes: 1 addition & 1 deletion composition_benchmark/apps/base_subscriber_main.cpp
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Expand Up @@ -47,7 +47,7 @@ int main(int argc, char ** argv)
performance_test::SpinType::SPIN);

system->add_nodes(nodes);
system->spin(MAX_HOURS, false, false);
system->spin(MAX_HOURS, false);

rclcpp::shutdown();
}
2 changes: 1 addition & 1 deletion composition_benchmark/apps/composable_pub_sub_main.cpp
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Expand Up @@ -74,7 +74,7 @@ int main(int argc, char ** argv)
spin_type);

system->add_nodes(nodes);
system->spin(MAX_HOURS, false, false);
system->spin(MAX_HOURS, false);

rclcpp::shutdown();
}
2 changes: 1 addition & 1 deletion composition_benchmark/apps/multi-producer-node.cpp
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Expand Up @@ -71,7 +71,7 @@ int main(int argc, char ** argv)
performance_test::SpinType::SPIN);

system->add_node(nodes);
system->spin(std::chrono::seconds(20), false, false);
system->spin(std::chrono::seconds(20), false);

ru_logger.stop();

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98 changes: 21 additions & 77 deletions irobot_benchmark/CMakeLists.txt
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Expand Up @@ -12,104 +12,48 @@ endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(irobot_events_executor REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(performance_test REQUIRED)
find_package(performance_test_factory REQUIRED)

add_executable(irobot_benchmark src/irobot_benchmark.cpp)
ament_target_dependencies(irobot_benchmark rclcpp rclcpp_lifecycle performance_test performance_test_factory irobot_events_executor)
ament_target_dependencies(irobot_benchmark rclcpp rclcpp_lifecycle performance_test performance_test_factory)

install(TARGETS
irobot_benchmark
DESTINATION lib/${PROJECT_NAME}
)

set(FT topology/full_topologies)

set(TEST_TOPOLOGY_FILES
${FT}/cedar.json
${FT}/debug_mont_blanc_best_effort.json
${FT}/debug_mont_blanc_reliable.json
${FT}/debug_sierra_nevada_best_effort.json
${FT}/debug_sierra_nevada_fixed_size_best_effort.json
${FT}/debug_sierra_nevada_reliable.json
${FT}/debug_white_mountain_best_effort.json
${FT}/debug_white_mountain_fixed_size_best_effort.json
${FT}/mont_blanc.json
${FT}/sierra_nevada.json
${FT}/sierra_nevada_fixed_size.json
${FT}/sierra_nevada_fixed_size_loaned.json
${FT}/sierra_nevada_loaned.json
${FT}/white_mountain.json
${FT}/white_mountain_fixed_size.json
${FT}/white_mountain_fixed_size_loaned.json
${FT}/white_mountain_loaned.json
set(TOPOLOGY_FILES
topology/sierra_nevada.json
topology/cedar.json
topology/mont_blanc.json
topology/white_mountain.json
topology/debug_sierra_nevada_reliable.json
topology/debug_sierra_nevada_best_effort.json
topology/debug_mont_blanc_reliable.json
topology/debug_mont_blanc_best_effort.json
)

install(FILES
${TEST_TOPOLOGY_FILES}
DESTINATION lib/${PROJECT_NAME}/${FT})

set(SP topology/single_process)

set(TOPOLOGY_FILES_SINGLE_PROCESS
${SP}/pub_sub_loaned_10b.json
${SP}/pub_sub_loaned_100kb.json
${SP}/pub_sub_loaned_1mb.json
${SP}/pub_sub_loaned_4mb.json

${SP}/pub_sub_10b_ipc_on.json
${SP}/pub_sub_100kb_ipc_on.json
${SP}/pub_sub_1mb_ipc_on.json
${SP}/pub_sub_4mb_ipc_on.json
${TOPOLOGY_FILES}
DESTINATION lib/${PROJECT_NAME}/topology)

${SP}/pub_sub_10b_ipc_off.json
${SP}/pub_sub_100kb_ipc_off.json
${SP}/pub_sub_1mb_ipc_off.json
${SP}/pub_sub_4mb_ipc_off.json
set(SCRIPTS
scripts/compare_latency.py
scripts/plot_latency.py
scripts/plot_cpu_memory.py
)

install(FILES
${TOPOLOGY_FILES_SINGLE_PROCESS}
DESTINATION lib/${PROJECT_NAME}/${SP})

set(MP topology/multi_process)

set(TOPOLOGY_FILES_MULTI_PROCESS
${MP}/pub_ipc_off_10b.json
${MP}/pub_ipc_off_100kb.json
${MP}/pub_ipc_off_1mb.json
${MP}/pub_ipc_off_4mb.json

${MP}/sub_ipc_off_10b.json
${MP}/sub_ipc_off_100kb.json
${MP}/sub_ipc_off_1mb.json
${MP}/sub_ipc_off_4mb.json
${SCRIPTS}
DESTINATION lib/${PROJECT_NAME}/scripts)

${MP}/pub_loaned_10b.json
${MP}/pub_loaned_100kb.json
${MP}/pub_loaned_1mb.json
${MP}/pub_loaned_4mb.json

${MP}/sub_loaned_10b.json
${MP}/sub_loaned_100kb.json
${MP}/sub_loaned_1mb.json
${MP}/sub_loaned_4mb.json
# Install the entire comms_benchmark directory
install(DIRECTORY comms_benchmark/
DESTINATION lib/${PROJECT_NAME}/comms_benchmark
)

install(FILES
${TOPOLOGY_FILES_MULTI_PROCESS}
DESTINATION lib/${PROJECT_NAME}/${MP})

set(PROFILES
profiles/ignore_local_endpoints.xml
profiles/shared_memory_fastdds_config.xml)

install(FILES
${PROFILES}
DESTINATION lib/${PROJECT_NAME}/profiles)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
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0 ...hmark/profiles/ignore_local_endpoints.xml → ...hmark/profiles/ignore_local_endpoints.xml
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36 changes: 36 additions & 0 deletions irobot_benchmark/comms_benchmark/profiles/roudi_config.toml
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@@ -0,0 +1,36 @@
[general]
version = 1

[[segment]]

[[segment.mempool]]
size = 128
count = 10000

[[segment.mempool]]
size = 1024
count = 5000

[[segment.mempool]]
size = 16384
count = 1000

[[segment.mempool]]
size = 131072
count = 200

[[segment.mempool]]
size = 524288
count = 50

[[segment.mempool]]
size = 1048576
count = 30

[[segment.mempool]]
size = 4194304
count = 5

[[segment.mempool]]
size = 5242880
count = 5
26 changes: 26 additions & 0 deletions irobot_benchmark/comms_benchmark/profiles/shared_memory_fastdds_dynamic_reusable.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

<!-- Default publisher profile -->
<data_writer profile_name="default publisher profile" is_default_profile="true">
<qos>
<publishMode>
<kind>ASYNCHRONOUS</kind>
</publishMode>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>DYNAMIC_REUSABLE</historyMemoryPolicy>
</data_writer>

<data_reader profile_name="default subscription profile" is_default_profile="true">
<qos>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>DYNAMIC_REUSABLE</historyMemoryPolicy>
</data_reader>

</profiles>
32 changes: 32 additions & 0 deletions irobot_benchmark/comms_benchmark/profiles/shared_memory_fastdds_extra_samples.xml
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@@ -0,0 +1,32 @@
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

<!-- Default publisher profile -->
<data_writer profile_name="default_publisher_profile" is_default_profile="true">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<publishMode>
<kind>ASYNCHRONOUS</kind>
</publishMode>
<data_sharing>
<kind>AUTO</kind>
</data_sharing>
</qos>
<topic>
<resourceLimitsQos>
<extra_samples>5</extra_samples>
</resourceLimitsQos>
</topic>
</data_writer>

<!-- Default subscriber profile -->
<data_reader profile_name="default_subscription_profile" is_default_profile="true">
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
<qos>
<data_sharing>
<kind>AUTO</kind>
</data_sharing>
</qos>
</data_reader>

</profiles>
0 ...profiles/shared_memory_fastdds_config.xml → ...memory_fastdds_preallocated_w_realloc.xml
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26 changes: 26 additions & 0 deletions irobot_benchmark/comms_benchmark/profiles/shared_memory_fastdds_realloc.xml
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@@ -0,0 +1,26 @@
<?xml version="1.0" encoding="UTF-8" ?>
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">

<!-- Default publisher profile -->
<data_writer profile_name="default publisher profile" is_default_profile="true">
<qos>
<publishMode>
<kind>ASYNCHRONOUS</kind>
</publishMode>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>PREALLOCATED</historyMemoryPolicy>
</data_writer>

<data_reader profile_name="default subscription profile" is_default_profile="true">
<qos>
<data_sharing>
<kind>AUTOMATIC</kind>
</data_sharing>
</qos>
<historyMemoryPolicy>PREALLOCATED</historyMemoryPolicy>
</data_reader>

</profiles>
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