Enable rosbag2_performance_benchmarking package to be built by default (#2093)

* Enable performance benchmarking to be built by default

- Note: the tests from the performance benchmarking package are excluded
 from the build by default and should be explicitly enabled during the
 build time via ``--cmake-args -DENABLE_ROSBAG2_BENCHMARK_TESTS=1`

Signed-off-by: Michael Orlov <[email protected]>

* Fix grammar issue in the README.md file according to the code review

Signed-off-by: Michael Orlov <[email protected]>

* Fix for Windows build failure

Address error message:
 LINK : fatal error LNK1181: cannot open input file 'yaml-cpp.lib'

Signed-off-by: Michael Orlov <[email protected]>

---------

Signed-off-by: Michael Orlov <[email protected]>

Author: MichaelOrlov

.github/workflows/test.yml

@@ -25,8 +25,7 @@ jobs:
           {
             "build": {
               "cmake-args": [
-                "-DCMAKE_CXX_FLAGS=\"-Werror\"",
-                "-DBUILD_ROSBAG2_BENCHMARKS=1"
+                "-DCMAKE_CXX_FLAGS=\"-Werror\""
               ],
               "packages-up-to": [
                 "mcap_vendor",

rosbag2_performance/rosbag2_performance_benchmarking/CMakeLists.txt

@@ -1,11 +1,7 @@
 cmake_minimum_required(VERSION 3.20)
 project(rosbag2_performance_benchmarking)
 
-option(BUILD_ROSBAG2_BENCHMARKS "Build rosbag2 performance benchmarks" OFF)
-
-if(NOT BUILD_ROSBAG2_BENCHMARKS)
-  return()
-endif()
+option(ENABLE_ROSBAG2_BENCHMARK_TESTS "Enables rosbag2 performance benchmark tests" OFF)
 
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
@@ -61,7 +57,7 @@ target_link_libraries(benchmark_publishers
   rosbag2_storage::rosbag2_storage
   ${rosbag2_performance_benchmarking_msgs_TARGETS}
   ${sensor_msgs_TARGETS}
-  yaml-cpp
+  yaml-cpp::yaml-cpp
 )
 
 target_link_libraries(results_writer
@@ -93,7 +89,7 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}
 )
 
-if(BUILD_TESTING)
+if(BUILD_TESTING AND ENABLE_ROSBAG2_BENCHMARK_TESTS)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 

rosbag2_performance/rosbag2_performance_benchmarking/README.md

@@ -26,6 +26,7 @@ For human friendly output, a postprocess report generation tool can be used. Lau
 ```bash
 scripts/report_gen.py -i <BENCHMARK_RESULT_DIR>
 ```
+
 #### Binaries
 
 These are used in the launch file:
@@ -45,12 +46,25 @@ In the case of the `benchmark_publishers` binary, a pool of threads is created t
 the number of threads is equal to the number of publishers. It is possible to change the number of threads
 using the optional `number_of_threads` parameter.
 
-## Building
+## Running builtin Rosbag2 benchmark tests on CI or local setup
+
+The package contains a set of builtin tests that can be run to verify the performance of the
+Rosbag2 recorder. However, these tests are excluded from the build by default, so you need to enable
+them by setting the `ENABLE_ROSBAG2_BENCHMARK_TESTS` CMake flag to `ON` when building the package.
+To enable and run the rosbag2 benchmark tests with colcon, you need to:
+First build the package with the `ENABLE_ROSBAG2_BENCHMARK_TESTS` CMake option enabled:
+
+```bash
+colcon build --packages-select rosbag2_performance_benchmarking --cmake-args -DENABLE_ROSBAG2_BENCHMARK_TESTS=1
+```
+
+Then, you can run the tests using the `colcon test` command.
 
-To build the package in the rosbag2 build process, make sure to turn `BUILD_ROSBAG2_BENCHMARKS` flag on (e.g. `colcon build --cmake-args -DBUILD_ROSBAG2_BENCHMARKS=1`)
+```bash
+colcon test --packages-select rosbag2_performance_benchmarking
+```
 
-If you already built rosbag2, you can use `packages-select` option to build benchmarks.
-Example: `colcon build --packages-select rosbag2_performance_benchmarking --cmake-args -DBUILD_ROSBAG2_BENCHMARKS=1`.
+This will execute the tests defined in the "rosbag2_performance_benchmarking/test/benchmark_test.py".
 
 ## General knowledge: I/O benchmarking
 

rosbag2_performance/rosbag2_performance_benchmarking_msgs/CMakeLists.txt

@@ -2,12 +2,6 @@ cmake_minimum_required(VERSION 3.20)
 
 project(rosbag2_performance_benchmarking_msgs)
 
-option(BUILD_ROSBAG2_BENCHMARKS "Build rosbag2 performance benchmarks" OFF)
-
-if(NOT BUILD_ROSBAG2_BENCHMARKS)
-  return()
-endif()
-
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)