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Merge various fixes and improvements into the humble branch #131

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196f7a5
Add EventsExecutor support
Sep 12, 2023
2e315b7
Add test topologies
Sep 12, 2023
c2eda98
Add topologies for testing
Aug 30, 2023
29ae50f
Relocate tests topologies
Sep 14, 2023
37465cc
Rename topologies and specify reliability
Sep 25, 2023
1ab50d5
Use appropriate XML to enable data-sharing delivery
Sep 26, 2023
17e38de
Expose the ability to select among two events-executors
Feb 14, 2024
12d0a46
Explicit use of separate thread for timers
apojomovsky Mar 22, 2024
6a0c1d5
Expose the ability to select whether to use timers in a separate thread
apojomovsky Mar 27, 2024
0917633
Fully replace the irobot_events_executor with the one from upstream/iron
apojomovsky Apr 15, 2024
b8595da
Apply suggestions from code review
apojomovsky Apr 15, 2024
1b4c0da
Use glob to avoid declaring every single topology files explicitly
apojomovsky Apr 15, 2024
be1a43d
Update topologies destination path as per review suggestions
apojomovsky Apr 15, 2024
baa46f4
Ensure topologies are installed under the project name within the sha…
apojomovsky Apr 15, 2024
a7b0f09
Rename benchmark argument as per review suggestions
apojomovsky Apr 15, 2024
1ccc55d
Typo fix
apojomovsky Apr 15, 2024
4c35963
Avoid hardcoding the installation path of profiles/topologies
apojomovsky Apr 16, 2024
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92 changes: 81 additions & 11 deletions irobot_benchmark/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -24,20 +24,90 @@ install(TARGETS
DESTINATION lib/${PROJECT_NAME}
)

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
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_reliable.json
${FT}/debug_white_mountain_best_effort.json
${FT}/mont_blanc.json
${FT}/sierra_nevada.json
${FT}/sierra_nevada_fixed_size.json
${FT}/debug_sierra_nevada_fixed_size_best_effort.json
${FT}/sierra_nevada_fixed_size_loaned.json
${FT}/sierra_nevada_loaned.json
${FT}/white_mountain.json
${FT}/white_mountain_fixed_size.json
${FT}/debug_white_mountain_fixed_size_best_effort.json
${FT}/white_mountain_fixed_size_loaned.json
${FT}/white_mountain_loaned.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

${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
)

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

${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(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)
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44 changes: 44 additions & 0 deletions irobot_benchmark/profiles/ignore_local_endpoints.xml
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@@ -0,0 +1,44 @@
<?xml version="1.0" encoding="UTF-8" ?>
<dds xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
<library_settings>
<intraprocess_delivery>OFF</intraprocess_delivery>
</library_settings>
<profiles>
<transport_descriptors>
<transport_descriptor>
<transport_id>UDP</transport_id>
<type>UDPv4</type>
</transport_descriptor>
</transport_descriptors>
<participant profile_name="participant_profile" is_default_profile="true">
<rtps>
<userTransports>
<transport_id>UDP</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
<data_writer profile_name="/number">
<propertiesPolicy>
<properties>
<property>
<name>fastdds.match_local_endpoints</name>
<value>false</value>
<propagate>false</propagate>
</property>
</properties>
</propertiesPolicy>
</data_writer>
<data_reader profile_name="/number">
<propertiesPolicy>
<properties>
<property>
<name>fastdds.match_local_endpoints</name>
<value>false</value>
<propagate>false</propagate>
</property>
</properties>
</propertiesPolicy>
</data_reader>
</profiles>
</dds>
26 changes: 26 additions & 0 deletions irobot_benchmark/profiles/shared_memory_fastdds_config.xml
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@alsora alsora Apr 8, 2024 •
edited
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profiles are in a different directory, and I think we already have one almost identical to this: scripts/rmw/rmw_fastrtps_cpp/zero-copy-shm.xml

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@apojomovsky apojomovsky Apr 15, 2024

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From what I was able to see, these are indeed identical. The potential path I see here to avoid this duplication would be to make the rmw_fastrtps_cpp/setup.sh to point to the (now) installed version of the xml file (under share/profiles/*) although OTOH, these also seem to be experimental scripts, so not sure if the change is justified.

Please let me know if you consider the change worthy so I can apply the change and give these scripts a try to confirm there are no regressions.

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@apojomovsky apojomovsky Apr 16, 2024

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@mauropasse / @alsora Is there any strong preference for having these profile files installed instead of what we currently have under scripts/rmw ?

I don't think I have enough experience with this to have an informed decision myself.

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@apojomovsky apojomovsky Apr 17, 2024

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gentle ping

Original file line number Diff line number Diff line change
@@ -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_WITH_REALLOC</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_WITH_REALLOC</historyMemoryPolicy>
</data_reader>

</profiles>
3 changes: 2 additions & 1 deletion irobot_benchmark/src/irobot_benchmark.cpp
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Expand Up @@ -76,7 +76,8 @@ create_ros2_system(
static_cast<performance_test::ExecutorType>(options.executor),
performance_test::SpinType::SPIN,
events_output_path_opt,
options.csv_out);
options.csv_out,
options.timers_separate_thread);

return system;
}
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0 irobot_benchmark/topology/cedar.json → ...hmark/topology/full_topologies/cedar.json
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0 ...opology/debug_mont_blanc_best_effort.json → ...ologies/debug_mont_blanc_best_effort.json
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0 ...k/topology/debug_mont_blanc_reliable.json → ...topologies/debug_mont_blanc_reliable.json
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0 ...logy/debug_sierra_nevada_best_effort.json → ...gies/debug_sierra_nevada_best_effort.json
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22 changes: 22 additions & 0 deletions irobot_benchmark/topology/full_topologies/debug_sierra_nevada_fixed_size_best_effort.json
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@@ -0,0 +1,22 @@
{
"nodes": [
{
"node_name": "debug_node",
"subscribers":[
{"topic_name":"amazon", "msg_type":"stamped9_float32", "qos_reliability":"best_effort"},
{"topic_name":"arkansas", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"congo", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"danube", "msg_type":"stamped_int64", "qos_reliability":"best_effort"},
{"topic_name":"ganges", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"lena", "msg_type":"stamped50b", "qos_reliability":"best_effort"},
{"topic_name":"mekong", "msg_type":"stamped100b", "qos_reliability":"best_effort"},
{"topic_name":"missouri", "msg_type":"stamped10kb", "qos_reliability":"best_effort"},
{"topic_name":"nile", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"parana", "msg_type":"stamped3_float32", "qos_reliability":"best_effort"},
{"topic_name":"salween", "msg_type":"stamped12_float32", "qos_reliability":"best_effort"},
{"topic_name":"tigris", "msg_type":"stamped4_float32", "qos_reliability":"best_effort"},
{"topic_name":"volga", "msg_type":"stamped_int64", "qos_reliability":"best_effort"}
]
}
]
}
0 ...opology/debug_sierra_nevada_reliable.json → ...ologies/debug_sierra_nevada_reliable.json
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33 changes: 33 additions & 0 deletions irobot_benchmark/topology/full_topologies/debug_white_mountain_best_effort.json
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{
"nodes": [
{
"node_name": "debug_node",
"subscribers":[
{"topic_name":"amazon", "msg_type":"stamped9_float32", "qos_reliability":"best_effort"},
{"topic_name":"arkansas", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"brazos", "msg_type":"stamped_vector", "qos_reliability":"best_effort"},
{"topic_name":"chenab", "msg_type":"stamped1kb", "qos_reliability":"best_effort"},
{"topic_name":"colorado", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"columbia", "msg_type":"stamped600kb", "qos_reliability":"best_effort"},
{"topic_name":"congo", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"danube", "msg_type":"stamped_int64", "qos_reliability":"best_effort"},
{"topic_name":"ganges", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"godavari", "msg_type":"stamped_vector", "qos_reliability":"best_effort"},
{"topic_name":"lena", "msg_type":"stamped_vector", "qos_reliability":"best_effort"},
{"topic_name":"loire", "msg_type":"stamped_vector", "qos_reliability":"best_effort"},
{"topic_name":"mekong", "msg_type":"stamped_vector", "qos_reliability":"best_effort"},
{"topic_name":"missouri", "msg_type":"stamped_vector", "qos_reliability":"best_effort"},
{"topic_name":"murray", "msg_type":"stamped_vector", "qos_reliability":"best_effort"},
{"topic_name":"nile", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"ohio", "msg_type":"stamped100b", "qos_reliability":"best_effort"},
{"topic_name":"parana", "msg_type":"stamped3_float32", "qos_reliability":"best_effort"},
{"topic_name":"salween", "msg_type":"stamped12_float32", "qos_reliability":"best_effort"},
{"topic_name":"tagus", "msg_type":"stamped_vector", "qos_reliability":"best_effort"},
{"topic_name":"tigris", "msg_type":"stamped4_float32", "qos_reliability":"best_effort"},
{"topic_name":"volga", "msg_type":"stamped_int64", "qos_reliability":"best_effort"},
{"topic_name":"yamuna", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"yamuna", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"}
]
}
]
}
32 changes: 32 additions & 0 deletions irobot_benchmark/topology/full_topologies/debug_white_mountain_fixed_size_best_effort.json
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{
"nodes": [
{
"node_name": "debug_node",
"subscribers":[
{"topic_name":"amazon", "msg_type":"stamped9_float32", "qos_reliability":"best_effort"},
{"topic_name":"arkansas", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"brazos", "msg_type":"stamped25kb", "qos_reliability":"best_effort"},
{"topic_name":"chenab", "msg_type":"stamped1kb", "qos_reliability":"best_effort"},
{"topic_name":"colorado", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"columbia", "msg_type":"stamped600kb", "qos_reliability":"best_effort"},
{"topic_name":"congo", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"danube", "msg_type":"stamped_int64", "qos_reliability":"best_effort"},
{"topic_name":"ganges", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"godavari", "msg_type":"stamped5kb", "qos_reliability":"best_effort"},
{"topic_name":"lena", "msg_type":"stamped50b", "qos_reliability":"best_effort"},
{"topic_name":"loire", "msg_type":"stamped1kb", "qos_reliability":"best_effort"},
{"topic_name":"mekong", "msg_type":"stamped100b", "qos_reliability":"best_effort"},
{"topic_name":"missouri", "msg_type":"stamped10kb", "qos_reliability":"best_effort"},
{"topic_name":"murray", "msg_type":"stamped100b", "qos_reliability":"best_effort"},
{"topic_name":"nile", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"},
{"topic_name":"ohio", "msg_type":"stamped100b", "qos_reliability":"best_effort"},
{"topic_name":"parana", "msg_type":"stamped3_float32", "qos_reliability":"best_effort"},
{"topic_name":"salween", "msg_type":"stamped12_float32", "qos_reliability":"best_effort"},
{"topic_name":"tagus", "msg_type":"stamped50kb", "qos_reliability":"best_effort"},
{"topic_name":"tigris", "msg_type":"stamped4_float32", "qos_reliability":"best_effort"},
{"topic_name":"volga", "msg_type":"stamped_int64", "qos_reliability":"best_effort"},
{"topic_name":"yamuna", "msg_type":"stamped4_int32", "qos_reliability":"best_effort"}
]
}
]
}
0 irobot_benchmark/topology/mont_blanc.json → .../topology/full_topologies/mont_blanc.json
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0 irobot_benchmark/topology/mont_blanc.pdf → ...k/topology/full_topologies/mont_blanc.pdf
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0 irobot_benchmark/topology/sierra_nevada.json → ...pology/full_topologies/sierra_nevada.json
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0 irobot_benchmark/topology/sierra_nevada.pdf → ...opology/full_topologies/sierra_nevada.pdf
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109 changes: 109 additions & 0 deletions irobot_benchmark/topology/full_topologies/sierra_nevada_fixed_size.json
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{
"nodes": [
{
"node_name": "montreal",
"publishers": [
{"topic_name": "amazon", "msg_type": "stamped9_float32", "period_ms": 10, "msg_pass_by":"shared_ptr"},
{"topic_name": "nile", "msg_type": "stamped4_int32", "period_ms": 10, "msg_pass_by":"shared_ptr"},
{"topic_name": "ganges", "msg_type": "stamped4_int32", "period_ms": 10, "msg_pass_by":"shared_ptr"},
{"topic_name": "danube", "msg_type": "stamped_int64", "period_ms": 10, "msg_pass_by":"shared_ptr"}
]
},

{
"node_name": "lyon",
"subscribers":[
{"topic_name":"amazon", "msg_type":"stamped9_float32"}
],
"publishers": [
{"topic_name": "tigris", "msg_type": "stamped4_float32", "period_ms": 10, "msg_pass_by":"shared_ptr"}
]
},

{
"node_name": "hamburg",
"subscribers":[
{"topic_name":"nile", "msg_type":"stamped4_int32"},
{"topic_name":"tigris", "msg_type":"stamped4_float32"},
{"topic_name":"ganges", "msg_type":"stamped4_int32"},
{"topic_name":"danube", "msg_type":"stamped_int64"}
],
"publishers": [
{"topic_name": "parana", "msg_type": "stamped3_float32", "period_ms": 10, "msg_pass_by":"shared_ptr"}
]
},

{
"node_name": "osaka",
"subscribers":[
{"topic_name":"parana", "msg_type":"stamped3_float32"}
],
"publishers": [
{"topic_name": "salween", "msg_type": "stamped12_float32", "period_ms": 100, "msg_pass_by":"shared_ptr"}
]
},

{
"node_name": "mandalay",
"subscribers":[
{"topic_name":"salween", "msg_type":"stamped12_float32"},
{"topic_name":"danube", "msg_type":"stamped_int64"}
],
"publishers": [
{"topic_name": "missouri", "msg_type": "stamped10kb", "period_ms": 100, "msg_pass_by":"shared_ptr"}
]
},

{
"node_name": "ponce",
"subscribers":[
{"topic_name":"missouri", "msg_type":"stamped10kb"},
{"topic_name":"danube", "msg_type":"stamped_int64"},
{"topic_name":"volga", "msg_type":"stamped_int64"}
],
"publishers": [
{"topic_name": "mekong", "msg_type": "stamped100b", "period_ms": 500, "msg_pass_by":"shared_ptr"},
{"topic_name": "congo", "msg_type": "stamped4_int32", "period_ms": 100, "msg_pass_by":"shared_ptr"}
]
},

{
"node_name": "barcelona",
"subscribers":[
{"topic_name":"mekong", "msg_type":"stamped100b"}
],
"publishers": [
{"topic_name": "lena", "msg_type": "stamped50b", "period_ms": 100, "msg_pass_by":"shared_ptr"}
]
},

{
"node_name": "georgetown",
"subscribers":[
{"topic_name":"lena", "msg_type":"stamped50b"}
],
"publishers": [
{"topic_name": "volga", "msg_type": "stamped_int64", "period_ms": 500, "msg_pass_by":"shared_ptr"}
]
},

{
"node_name": "geneva",
"subscribers":[
{"topic_name":"congo", "msg_type":"stamped4_int32"},
{"topic_name":"danube", "msg_type":"stamped_int64"},
{"topic_name":"parana", "msg_type":"stamped3_float32"}
],
"publishers": [
{"topic_name": "arkansas", "msg_type": "stamped4_int32", "period_ms": 100, "msg_pass_by":"shared_ptr"}
]
},

{
"node_name": "arequipa",
"subscribers":[
{"topic_name":"arkansas", "msg_type":"stamped4_int32"}
]
}
]
}
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