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performance_test_plugin_cmake package from ros2-performance repo

composition_benchmark irobot_benchmark irobot_interfaces_plugin memory_benchmark performance_metrics performance_test performance_test_examples performance_test_factory performance_test_msgs performance_test_plugin_cmake

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Package Summary

Tags	No category tags.
Version	0.2.0
License	BSD 3.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Framework to evaluate peformance of ROS 2
Checkout URI	https://github.com/irobot-ros/ros2-performance.git
VCS Type	git
VCS Version	rolling
Last Updated	2025-04-10
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	benchmark performance cpp ros2
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

CMake function for generating performance_test_factory plugins

Additional Links

No additional links.

Maintainers

Alberto Soragna

Authors

Alberto Soragna

performance_test_plugin_cmake/README.md

Performance Test Plugin CMake

This package defines the CMake function generate_factory_plugins(MSGS SRVS). This function should be invoked in a package where custom interfaces are created in order to make them usable in the performance test factory.

How to use it

Create a standard ROS 2 package where new messages and services are defined. Important: all messages need to have a field PerformanceHeader header which is defined in the performance_test_msgs package.
Add to package.xml

<build_depend>performance_test_plugin_cmake</build_depend>
<member_of_group>performance_test_factory_plugins</member_of_group>

Add to CMakeLists.txt

find_package(performance_test_plugin_cmake REQUIRED)
generate_factory_plugin("msg/MyNewMsg.msg msg/MyOtherNewMsg.msg" "srv/MyNewSrv.srv")

See irobot_interfaces_plugin for an example.

How does it work

This tool is experimental and hacky!

The CMake function generate_factory_plugin calls a Python script to automatically generate a .cpp file that is then used to build the C++ factory support library. The automatically generated file can be found at build/<PKG_NAME>/generated/<PKG_NAME>_implementation.cpp, where <PKG_NAME> is the name of the package where the CMake function was called.

This example shows how some of the APIs exposed by the library should look like given for the messages defined in the irobot_interfaces_plugin package:

  extern "C" void add_subscriber_impl(

 std::shared_ptr<performance_test::PerformanceNodeBase> n,
    const std::string & msg_type,
    const std::string & topic_name,
    const performance_metrics::Tracker::Options & tracking_options,
    msg_pass_by_t msg_pass_by,
    const rclcpp::QoS & custom_qos_profile)
  {
    const std::map<std::string, std::function<void()>> subscribers_factory{

{ "stamped_int64", [&] { n->add_subscriber<irobot_interfaces_plugin::msg::StampedInt64>(topic_name, msg_pass_by, tracking_options, custom_qos_profile);} },
{ "stamped3_float32", [&] { n->add_subscriber<irobot_interfaces_plugin::msg::Stamped3Float32>(topic_name, msg_pass_by, tracking_options, custom_qos_profile);} },
{ "stamped4_float32", [&] { n->add_subscriber<irobot_interfaces_plugin::msg::Stamped4Float32>(topic_name, msg_pass_by, tracking_options, custom_qos_profile);} },
{ "stamped4_int32", [&] { n->add_subscriber<irobot_interfaces_plugin::msg::Stamped4Int32>(topic_name, msg_pass_by, tracking_options, custom_qos_profile);} },
{ "stamped9_float32", [&] { n->add_subscriber<irobot_interfaces_plugin::msg::Stamped9Float32>(topic_name, msg_pass_by, tracking_options, custom_qos_profile);} },
{ "stamped_vector", [&] { n->add_subscriber<irobot_interfaces_plugin::msg::StampedVector>(topic_name, msg_pass_by, tracking_options, custom_qos_profile);} }
    };

    if (subscribers_factory.find(msg_type) == subscribers_factory.end()) {
      throw std::runtime_error("unknown msg type passed to subscribers factory: " + msg_type);
    }

    subscribers_factory.at(msg_type)();
  }

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	performance_test

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
irobot_interfaces_plugin

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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