Skip to content

moveit_core: Remove unnecessary rclcpp.hpp includes#1333

Merged
henningkayser merged 3 commits intomoveit:mainfrom
JafarAbdi:pr-compile_time_improvements
Jun 14, 2022
Merged

moveit_core: Remove unnecessary rclcpp.hpp includes#1333
henningkayser merged 3 commits intomoveit:mainfrom
JafarAbdi:pr-compile_time_improvements

Conversation

@JafarAbdi
Copy link
Member

@JafarAbdi JafarAbdi commented Jun 10, 2022

Description

Using https://github.com/aras-p/ClangBuildAnalyzer to profile the compile time for the whole codebase I found out rclcpp.hpp is one of the most expensive headers: https://gist.github.com/JafarAbdi/965b23666d4aeca92990554629b45644

So this PR removes unnecessary rclcpp.hpp includes from moveit_core which result in ~55s reduction in compile time (without parallel build)

Before:

Processing all files and saving to 'output_file'...
  done in 0.3s. Run 'ClangBuildAnalyzer --analyze output_file' to analyze it.
Analyzing build trace from 'output_file'...
**** Time summary:
Compilation (138 times):
  Parsing (frontend):          532.8 s
  Codegen & opts (backend):     85.6 s

**** Files that took longest to parse (compiler frontend):
 14592 ms: build/moveit_core//planning_scene/CMakeFiles/moveit_planning_scene.dir/src/planning_scene.cpp.o
 14385 ms: build/moveit_core//kinematics_metrics/CMakeFiles/moveit_kinematics_metrics.dir/src/kinematics_metrics.cpp.o
 14122 ms: build/moveit_core//robot_state/CMakeFiles/moveit_robot_state.dir/src/robot_state.cpp.o
 13638 ms: build/moveit_core//kinematic_constraints/CMakeFiles/moveit_kinematic_constraints.dir/src/kinematic_constraint.cpp.o
 12290 ms: build/moveit_core//collision_distance_field/CMakeFiles/moveit_collision_distance_field.dir/src/collision_env_distance_field.cpp.o
 11680 ms: build/moveit_core//collision_distance_field/CMakeFiles/moveit_collision_distance_field.dir/src/collision_env_hybrid.cpp.o
 10709 ms: build/moveit_core//collision_distance_field/CMakeFiles/moveit_collision_distance_field.dir/src/collision_common_distance_field.cpp.o
 10539 ms: build/moveit_core//constraint_samplers/CMakeFiles/moveit_constraint_samplers.dir/src/default_constraint_samplers.cpp.o
 10451 ms: build/moveit_core//robot_state/CMakeFiles/moveit_robot_state.dir/src/conversions.cpp.o
 10269 ms: build/moveit_core//robot_trajectory/CMakeFiles/moveit_robot_trajectory.dir/src/robot_trajectory.cpp.o

**** Files that took longest to codegen (compiler backend):
  7590 ms: build/moveit_core//robot_state/CMakeFiles/moveit_robot_state.dir/src/robot_state.cpp.o
  6501 ms: build/moveit_core//utils/CMakeFiles/moveit_test_utils.dir/src/robot_model_test_utils.cpp.o
  6421 ms: build/moveit_core//kinematics_metrics/CMakeFiles/moveit_kinematics_metrics.dir/src/kinematics_metrics.cpp.o
  5667 ms: build/moveit_core//collision_distance_field/CMakeFiles/moveit_collision_distance_field.dir/src/collision_env_distance_field.cpp.o
  4517 ms: build/moveit_core//planning_scene/CMakeFiles/moveit_planning_scene.dir/src/planning_scene.cpp.o
  3953 ms: build/moveit_core//robot_model/CMakeFiles/moveit_robot_model.dir/src/robot_model.cpp.o
  3887 ms: build/moveit_core//kinematic_constraints/CMakeFiles/moveit_kinematic_constraints.dir/src/kinematic_constraint.cpp.o
  3058 ms: build/moveit_core//kinematic_constraints/CMakeFiles/moveit_kinematic_constraints.dir/src/utils.cpp.o
  2552 ms: build/moveit_core//collision_detection/CMakeFiles/moveit_collision_detection.dir/src/collision_plugin_cache.cpp.o
  2373 ms: build/moveit_core//robot_state/CMakeFiles/moveit_robot_state.dir/src/conversions.cpp.o

**** Templates that took longest to instantiate:
 29752 ms: Eigen::Transform<double, 3, 1, 0>::computeRotationScaling<Eigen::Mat... (56 times, avg 531 ms)
 15057 ms: Eigen::JacobiSVD<Eigen::Matrix<double, 3, 3, 0>, 2>::JacobiSVD (56 times, avg 268 ms)
 14986 ms: Eigen::JacobiSVD<Eigen::Matrix<double, 3, 3, 0>, 2>::compute (56 times, avg 267 ms)
  8990 ms: Eigen::Transform<double, 3, 1, 0>::operator* (41 times, avg 219 ms)
  8986 ms: Eigen::internal::transform_transform_product_impl<Eigen::Transform<d... (40 times, avg 224 ms)
  7082 ms: rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent_<std::alloc... (55 times, avg 128 ms)
  6149 ms: rclcpp::AnySubscriptionCallback<rcl_interfaces::msg::ParameterEvent_... (55 times, avg 111 ms)
  6086 ms: rclcpp::Client<rcl_interfaces::srv::GetParameters> (55 times, avg 110 ms)
  6074 ms: rclcpp::Client<rcl_interfaces::srv::DescribeParameters> (55 times, avg 110 ms)
  6059 ms: std::unordered_map<long, std::pair<std::chrono::time_point<std::chro... (55 times, avg 110 ms)
  6048 ms: std::unordered_map<long, std::pair<std::chrono::time_point<std::chro... (55 times, avg 109 ms)
  6021 ms: std::variant<std::function<void (const rcl_interfaces::msg::Paramete... (55 times, avg 109 ms)
  5991 ms: std::_Hashtable<long, std::pair<const long, std::pair<std::chrono::t... (55 times, avg 108 ms)
  5955 ms: std::_Hashtable<long, std::pair<const long, std::pair<std::chrono::t... (55 times, avg 108 ms)
  5884 ms: rclcpp::Client<rcl_interfaces::srv::SetParametersAtomically> (55 times, avg 106 ms)
  5860 ms: std::unordered_map<long, std::pair<std::chrono::time_point<std::chro... (55 times, avg 106 ms)
  5856 ms: rclcpp::Client<rcl_interfaces::srv::SetParameters> (55 times, avg 106 ms)
  5842 ms: rclcpp::Client<rcl_interfaces::srv::ListParameters> (55 times, avg 106 ms)
  5832 ms: std::unordered_map<long, std::pair<std::chrono::time_point<std::chro... (55 times, avg 106 ms)
  5811 ms: std::unordered_map<long, std::pair<std::chrono::time_point<std::chro... (55 times, avg 105 ms)
  5803 ms: std::_Hashtable<long, std::pair<const long, std::pair<std::chrono::t... (55 times, avg 105 ms)
  5775 ms: std::_Hashtable<long, std::pair<const long, std::pair<std::chrono::t... (55 times, avg 105 ms)
  5751 ms: rclcpp::Client<rcl_interfaces::srv::GetParameterTypes> (55 times, avg 104 ms)
  5749 ms: std::_Hashtable<long, std::pair<const long, std::pair<std::chrono::t... (55 times, avg 104 ms)
  5728 ms: std::unordered_map<long, std::pair<std::chrono::time_point<std::chro... (55 times, avg 104 ms)
  5672 ms: std::_Hashtable<long, std::pair<const long, std::pair<std::chrono::t... (55 times, avg 103 ms)
  5651 ms: std::__detail::_Insert<long, std::pair<const long, std::pair<std::ch... (55 times, avg 102 ms)
  5639 ms: std::__detail::_Insert_base<long, std::pair<const long, std::pair<st... (55 times, avg 102 ms)
  5575 ms: std::__detail::_Hashtable_alloc<std::allocator<std::__detail::_Hash_... (55 times, avg 101 ms)
  5525 ms: std::__detail::_Insert<long, std::pair<const long, std::pair<std::ch... (55 times, avg 100 ms)

**** Template sets that took longest to instantiate:
 57755 ms: Eigen::MatrixBase<$> (5234 times, avg 11 ms)
 43786 ms: std::unordered_map<$> (879 times, avg 49 ms)
 43662 ms: std::variant<$> (726 times, avg 60 ms)
 43485 ms: std::_Hashtable<$> (1123 times, avg 38 ms)
 38942 ms: std::__detail::__variant::_Variant_base<$> (726 times, avg 53 ms)
 38561 ms: Eigen::internal::call_assignment_no_alias<$> (1703 times, avg 22 ms)
 37637 ms: Eigen::internal::Assignment<$>::run (1676 times, avg 22 ms)
 36942 ms: std::pair<$> (2339 times, avg 15 ms)
 36538 ms: std::__detail::_Insert<$> (1002 times, avg 36 ms)
 36354 ms: std::__detail::_Insert_base<$> (1001 times, avg 36 ms)
 35495 ms: rclcpp::Client<$> (330 times, avg 107 ms)
 35433 ms: std::__detail::_Hashtable_alloc<$> (1001 times, avg 35 ms)
 34655 ms: Eigen::DenseBase<$> (5437 times, avg 6 ms)
 34259 ms: std::__detail::_Hash_node<$> (934 times, avg 36 ms)
 34226 ms: std::__detail::_Hash_node_value<$> (934 times, avg 36 ms)
 34191 ms: std::__detail::_Hash_node_value_base<$> (934 times, avg 36 ms)
 34141 ms: __gnu_cxx::__aligned_buffer<$> (934 times, avg 36 ms)
 29752 ms: Eigen::Transform<$>::computeRotationScaling<$> (56 times, avg 531 ms)
 27975 ms: Eigen::internal::call_assignment<$> (1253 times, avg 22 ms)
 26902 ms: Eigen::Matrix<$>::Matrix<$> (716 times, avg 37 ms)
 26783 ms: Eigen::internal::call_dense_assignment_loop<$> (1749 times, avg 15 ms)
 25370 ms: Eigen::PlainObjectBase<$>::_set_noalias<$> (558 times, avg 45 ms)
 24441 ms: std::tuple<$> (2730 times, avg 8 ms)
 24255 ms: std::unique_ptr<$> (2335 times, avg 10 ms)
 23730 ms: Eigen::internal::generic_product_impl<$>::evalTo<$> (339 times, avg 70 ms)
 23590 ms: std::is_trivially_destructible<$> (3515 times, avg 6 ms)
 20559 ms: std::__uniq_ptr_data<$> (2335 times, avg 8 ms)
 20317 ms: std::__uniq_ptr_impl<$> (2335 times, avg 8 ms)
 20252 ms: std::__and_<$> (18870 times, avg 1 ms)
 19870 ms: Eigen::JacobiSVD<$>::JacobiSVD (58 times, avg 342 ms)

**** Functions that took longest to compile:
   227 ms: kinematic_constraints::collectConstraints(std::shared_ptr<rclcpp::No... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/kinematic_constraints/src/utils.cpp)
   189 ms: constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp)
   134 ms: collision_detection::CollisionEnvDistanceField::generateDistanceFiel... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp)
   122 ms: moveit::core::RobotModel::constructJointModel(urdf::Link const*, srd... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/src/robot_model.cpp)
   119 ms: boost::re_detail_107400::basic_regex_parser<char, boost::regex_trait... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/utils/src/robot_model_test_utils.cpp)
   114 ms: moveit::core::JointModelGroup::JointModelGroup(std::__cxx11::basic_s... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/src/joint_model_group.cpp)
    91 ms: trajectory_processing::CircularPathSegment::CircularPathSegment(Eige... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp)
    90 ms: moveit::core::(anonymous namespace)::_robotStateMsgToRobotStateHelpe... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/src/conversions.cpp)
    81 ms: trajectory_processing::IterativeSplineParameterization::computeTimeS... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp)
    80 ms: Eigen::JacobiSVD<Eigen::Matrix<double, -1, -1, 0, -1, -1>, 2>::compu... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp)
    80 ms: collision_detection::CollisionEnvDistanceField::getIntraGroupCollisi... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp)
    80 ms: Eigen::JacobiSVD<Eigen::Matrix<double, -1, -1, 0, -1, -1>, 2>::compu... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/src/robot_state.cpp)
    76 ms: robot_trajectory::RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_trajectory/src/robot_trajectory.cpp)
    72 ms: moveit::core::RobotState::setFromIK(moveit::core::JointModelGroup co... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/src/robot_state.cpp)
    71 ms: moveit::core::RobotState::setFromIKSubgroups(moveit::core::JointMode... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/src/robot_state.cpp)
    63 ms: collision_detection::collisionCallback(fcl::CollisionObject<double>*... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_detection_fcl/src/collision_common.cpp)
    60 ms: collision_detection::CollisionEnvDistanceField::getGroupStateReprese... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp)
    59 ms: trajectory_processing::Trajectory::integrateForward(std::__cxx11::li... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp)
    58 ms: moveit::core::RobotModelBuilder::addChain(std::__cxx11::basic_string... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/utils/src/robot_model_test_utils.cpp)
    58 ms: Eigen::EigenSolver<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::doCom... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp)
    56 ms: moveit::core::attachedBodiesToAttachedCollisionObjectMsgs(std::vecto... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/src/conversions.cpp)
    56 ms: Eigen::internal::partial_lu_impl<double, 0, int, -1>::unblocked_lu(E... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp)
    55 ms: boost::re_detail_107400::basic_regex_creator<char, boost::regex_trai... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/utils/src/robot_model_test_utils.cpp)
    55 ms: dynamics_solver::DynamicsSolver::DynamicsSolver(std::shared_ptr<move... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/dynamics_solver/src/dynamics_solver.cpp)
    55 ms: moveit::core::RobotModel::setKinematicsAllocators(std::map<std::__cx... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/src/robot_model.cpp)
    53 ms: moveit::core::RobotModel::buildJointInfo() (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/src/robot_model.cpp)
    52 ms: pluginlib::ClassLoader<collision_detection::CollisionPlugin>::getAll... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_detection/src/collision_plugin_cache.cpp)
    52 ms: collision_detection::refineContactNormals(std::shared_ptr<collision_... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_detection/src/collision_octomap_filter.cpp)
    51 ms: trajectory_processing::Path::Path(std::__cxx11::list<Eigen::Matrix<d... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp)
    47 ms: trajectory_processing::TimeOptimalTrajectoryGeneration::doTimeParame... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp)

**** Function sets that took longest to compile / optimize:
   302 ms: std::_Rb_tree<$>::_M_get_insert_hint_unique_pos(std::_Rb_tree_const_... (53 times, avg 5 ms)
   281 ms: std::vector<$>::_M_default_append(unsigned long) (52 times, avg 5 ms)
   227 ms: kinematic_constraints::collectConstraints(std::shared_ptr<$> const&,... (1 times, avg 227 ms)
   210 ms: std::__shared_ptr<$>::~__shared_ptr() (143 times, avg 1 ms)
   189 ms: constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(... (1 times, avg 189 ms)
   186 ms: std::_Rb_tree_iterator<$> std::_Rb_tree<$>::_M_emplace_hint_unique<$... (62 times, avg 3 ms)
   178 ms: Eigen::JacobiSVD<$>::compute(Eigen::Matrix<$> const&, unsigned int) (3 times, avg 59 ms)
   173 ms: std::vector<$>::~vector() (103 times, avg 1 ms)
   164 ms: std::_Rb_tree<$>::_M_get_insert_unique_pos(std::__cxx11::basic_strin... (57 times, avg 2 ms)
   151 ms: visualization_msgs::msg::Marker_<$>::Marker_(visualization_msgs::msg... (8 times, avg 18 ms)
   134 ms: collision_detection::CollisionEnvDistanceField::generateDistanceFiel... (1 times, avg 134 ms)
   131 ms: std::_Rb_tree<$>::_M_erase(std::_Rb_tree_node<$>*) (108 times, avg 1 ms)
   123 ms: void std::vector<$>::_M_range_insert<$>(__gnu_cxx::__normal_iterator... (11 times, avg 11 ms)
   119 ms: boost::re_detail_107400::basic_regex_parser<$>::parse_perl_extension() (1 times, avg 119 ms)
   114 ms: moveit::core::JointModelGroup::JointModelGroup(std::__cxx11::basic_s... (1 times, avg 114 ms)
   109 ms: void std::vector<$>::_M_realloc_insert<$>(__gnu_cxx::__normal_iterat... (17 times, avg 6 ms)
   100 ms: void std::_Rb_tree<$>::_M_construct_node<$>(std::_Rb_tree_node<$>*, ... (48 times, avg 2 ms)
    98 ms: std::vector<$>::vector(std::vector<$> const&) (28 times, avg 3 ms)
    95 ms: void std::deque<$>::_M_insert_aux<$>(std::_Deque_iterator<$>, std::_... (4 times, avg 23 ms)
    95 ms: non-virtual thunk to boost::wrapexcept<$>::~wrapexcept() (21 times, avg 4 ms)
    93 ms: Eigen::internal::product_triangular_matrix_matrix<$>::run(long, long... (8 times, avg 11 ms)
    92 ms: std::_Rb_tree<$>::find(std::__cxx11::basic_string<$> const&) const (35 times, avg 2 ms)
    91 ms: trajectory_processing::CircularPathSegment::CircularPathSegment(Eige... (1 times, avg 91 ms)
    90 ms: moveit::core::(anonymous namespace)::_robotStateMsgToRobotStateHelpe... (1 times, avg 90 ms)
    87 ms: Eigen::internal::general_matrix_vector_product<$>::run(long, long, E... (6 times, avg 14 ms)
    86 ms: Eigen::internal::dense_assignment_loop<$>::run(Eigen::internal::gene... (11 times, avg 7 ms)
    84 ms: Eigen::ColPivHouseholderQR<$>::computeInPlace() (2 times, avg 42 ms)
    80 ms: collision_detection::CollisionEnvDistanceField::getIntraGroupCollisi... (1 times, avg 80 ms)
    76 ms: robot_trajectory::RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs... (1 times, avg 76 ms)
    76 ms: void Eigen::internal::make_block_householder_triangular_factor<$>(Ei... (2 times, avg 38 ms)

*** Expensive headers:
197327 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/include/moveit/robot_model/robot_model.h (included 46 times, avg 4289 ms), included via:
  robot_model.cpp.o  (5510 ms)
  constraint_sampler_tools.cpp.o constraint_sampler_tools.h constraint_sampler.h planning_scene.h  (5486 ms)
  conversions.cpp.o conversions.h robot_state.h  (5475 ms)
  butterworth_filter.cpp.o butterworth_filter.h  (5474 ms)
  default_constraint_samplers.cpp.o default_constraint_samplers.h constraint_sampler.h planning_scene.h  (5470 ms)
  iterative_time_parameterization.cpp.o iterative_time_parameterization.h robot_trajectory.h robot_state.h  (5469 ms)
  ...

175227 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h (included 47 times, avg 3728 ms), included via:
  iterative_spline_parameterization.cpp.o iterative_spline_parameterization.h robot_trajectory.h robot_state.h robot_model.h  (4742 ms)
  iterative_time_parameterization.cpp.o iterative_time_parameterization.h robot_trajectory.h robot_state.h robot_model.h  (4741 ms)
  planning_response.cpp.o planning_response.h robot_trajectory.h robot_state.h robot_model.h  (4679 ms)
  robot_model.cpp.o robot_model.h  (4578 ms)
  butterworth_filter.cpp.o butterworth_filter.h robot_model.h  (4563 ms)
  constraint_sampler_tools.cpp.o constraint_sampler_tools.h constraint_sampler.h planning_scene.h robot_model.h  (4559 ms)
  ...

150512 ms: /opt/ros/rolling/include/rclcpp/rclcpp/rclcpp.hpp (included 55 times, avg 2736 ms), included via:
  collision_common_distance_field.cpp.o  (3630 ms)
  robot_model_test_utils.cpp.o  (3608 ms)
  smoothing_base_class.cpp.o smoothing_base_class.h  (3541 ms)
  exceptions.cpp.o  (3329 ms)
  kinematics_base.cpp.o kinematics_base.h  (2944 ms)
  collision_plugin_cache.cpp.o collision_plugin_cache.h collision_plugin.h collision_env.h collision_matrix.h collision_common.h robot_model.h joint_model_group.h kinematics_base.h  (2893 ms)
  ...

131416 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h (included 47 times, avg 2796 ms), included via:
  kinematics_base.cpp.o  (4043 ms)
  iterative_spline_parameterization.cpp.o iterative_spline_parameterization.h robot_trajectory.h robot_state.h robot_model.h joint_model_group.h  (3233 ms)
  iterative_time_parameterization.cpp.o iterative_time_parameterization.h robot_trajectory.h robot_state.h robot_model.h joint_model_group.h  (3195 ms)
  planning_response.cpp.o planning_response.h robot_trajectory.h robot_state.h robot_model.h joint_model_group.h  (3172 ms)
  dynamics_solver.cpp.o dynamics_solver.h robot_state.h robot_model.h joint_model_group.h  (3165 ms)
  ruckig_traj_smoothing.cpp.o ruckig_traj_smoothing.h robot_trajectory.h robot_state.h robot_model.h joint_model_group.h  (3152 ms)
  ...

90385 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h (included 29 times, avg 3116 ms), included via:
  collision_plugin_cache.cpp.o collision_plugin_cache.h collision_plugin.h collision_env.h collision_matrix.h  (5659 ms)
  collision_matrix.cpp.o collision_matrix.h  (5641 ms)
  collision_common.cpp.o  (5603 ms)
  collision_env.cpp.o collision_env.h collision_matrix.h  (5544 ms)
  collision_env_bullet.cpp.o collision_env_bullet.h collision_env.h collision_matrix.h  (5523 ms)
  collision_octomap_filter.cpp.o  (5497 ms)
  ...

81110 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/include/moveit/robot_state/robot_state.h (included 33 times, avg 2457 ms), included via:
  iterative_spline_parameterization.cpp.o iterative_spline_parameterization.h robot_trajectory.h  (5820 ms)
  iterative_time_parameterization.cpp.o iterative_time_parameterization.h robot_trajectory.h  (5814 ms)
  conversions.cpp.o conversions.h  (5811 ms)
  robot_state.cpp.o  (5723 ms)
  planning_response.cpp.o planning_response.h robot_trajectory.h  (5694 ms)
  kinematics_metrics.cpp.o kinematics_metrics.h  (5675 ms)
  ...

53355 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h (included 26 times, avg 2052 ms), included via:
  collision_plugin_cache.cpp.o collision_plugin_cache.h collision_plugin.h collision_env.h  (5708 ms)
  collision_matrix.cpp.o  (5692 ms)
  collision_env.cpp.o collision_env.h  (5593 ms)
  collision_env_bullet.cpp.o collision_env_bullet.h collision_env.h  (5576 ms)
  collision_env_allvalid.cpp.o collision_env_allvalid.h collision_env.h  (5521 ms)
  collision_env_hybrid.cpp.o collision_detector_allocator_hybrid.h collision_detector_allocator.h collision_env.h  (5484 ms)
  ...

50797 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_detection/include/moveit/collision_detection/collision_env.h (included 20 times, avg 2539 ms), included via:
  collision_plugin_cache.cpp.o collision_plugin_cache.h collision_plugin.h  (6078 ms)
  collision_env.cpp.o  (5977 ms)
  collision_env_bullet.cpp.o collision_env_bullet.h  (5948 ms)
  collision_env_allvalid.cpp.o collision_env_allvalid.h  (5923 ms)
  collision_env_hybrid.cpp.o collision_detector_allocator_hybrid.h collision_detector_allocator.h  (5846 ms)
  collision_env_fcl.cpp.o collision_env_fcl.h  (5549 ms)
  ...

45790 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h (included 19 times, avg 2410 ms), included via:
  iterative_time_parameterization.cpp.o iterative_time_parameterization.h  (6286 ms)
  iterative_spline_parameterization.cpp.o iterative_spline_parameterization.h  (6273 ms)
  planning_response.cpp.o planning_response.h  (6146 ms)
  robot_trajectory.cpp.o  (6034 ms)
  planning_interface.cpp.o planning_interface.h planning_response.h  (5044 ms)
  planning_request_adapter.cpp.o planning_request_adapter.h planning_interface.h planning_response.h  (5040 ms)
  ...

45443 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/include/moveit/robot_model/joint_model.h (included 54 times, avg 841 ms), included via:
  revolute_joint_model.cpp.o revolute_joint_model.h  (1887 ms)
  prismatic_joint_model.cpp.o prismatic_joint_model.h  (1856 ms)
  fixed_joint_model.cpp.o fixed_joint_model.h  (1836 ms)
  floating_joint_model.cpp.o floating_joint_model.h  (1824 ms)
  planar_joint_model.cpp.o planar_joint_model.h  (1815 ms)
  joint_model.cpp.o  (1633 ms)
  ...

  done in 0.2s.

After:

Analyzing build trace from 'output_file'...
**** Time summary:
Compilation (138 times):
  Parsing (frontend):          482.6 s
  Codegen & opts (backend):     81.4 s

**** Files that took longest to parse (compiler frontend):
 14196 ms: build/moveit_core//robot_state/CMakeFiles/moveit_robot_state.dir/src/robot_state.cpp.o
 14194 ms: build/moveit_core//planning_scene/CMakeFiles/moveit_planning_scene.dir/src/planning_scene.cpp.o
 13499 ms: build/moveit_core//kinematic_constraints/CMakeFiles/moveit_kinematic_constraints.dir/src/kinematic_constraint.cpp.o
 12941 ms: build/moveit_core//kinematics_metrics/CMakeFiles/moveit_kinematics_metrics.dir/src/kinematics_metrics.cpp.o
 12322 ms: build/moveit_core//collision_distance_field/CMakeFiles/moveit_collision_distance_field.dir/src/collision_env_distance_field.cpp.o
 11725 ms: build/moveit_core//collision_distance_field/CMakeFiles/moveit_collision_distance_field.dir/src/collision_env_hybrid.cpp.o
 10577 ms: build/moveit_core//collision_distance_field/CMakeFiles/moveit_collision_distance_field.dir/src/collision_common_distance_field.cpp.o
 10416 ms: build/moveit_core//constraint_samplers/CMakeFiles/moveit_constraint_samplers.dir/src/default_constraint_samplers.cpp.o
 10348 ms: build/moveit_core//robot_state/CMakeFiles/moveit_robot_state.dir/src/conversions.cpp.o
 10285 ms: build/moveit_core//kinematic_constraints/CMakeFiles/moveit_kinematic_constraints.dir/src/utils.cpp.o

**** Files that took longest to codegen (compiler backend):
  6689 ms: build/moveit_core//robot_state/CMakeFiles/moveit_robot_state.dir/src/robot_state.cpp.o
  6445 ms: build/moveit_core//utils/CMakeFiles/moveit_test_utils.dir/src/robot_model_test_utils.cpp.o
  6375 ms: build/moveit_core//kinematics_metrics/CMakeFiles/moveit_kinematics_metrics.dir/src/kinematics_metrics.cpp.o
  4939 ms: build/moveit_core//collision_distance_field/CMakeFiles/moveit_collision_distance_field.dir/src/collision_env_distance_field.cpp.o
  4405 ms: build/moveit_core//planning_scene/CMakeFiles/moveit_planning_scene.dir/src/planning_scene.cpp.o
  4000 ms: build/moveit_core//robot_model/CMakeFiles/moveit_robot_model.dir/src/robot_model.cpp.o
  3286 ms: build/moveit_core//kinematic_constraints/CMakeFiles/moveit_kinematic_constraints.dir/src/kinematic_constraint.cpp.o
  2784 ms: build/moveit_core//kinematic_constraints/CMakeFiles/moveit_kinematic_constraints.dir/src/utils.cpp.o
  2409 ms: build/moveit_core//collision_detection/CMakeFiles/moveit_collision_detection.dir/src/collision_plugin_cache.cpp.o
  2389 ms: build/moveit_core//robot_state/CMakeFiles/moveit_robot_state.dir/src/conversions.cpp.o

**** Templates that took longest to instantiate:
 28937 ms: Eigen::Transform<double, 3, 1, 0>::computeRotationScaling<Eigen::Mat... (56 times, avg 516 ms)
 14855 ms: Eigen::JacobiSVD<Eigen::Matrix<double, 3, 3, 0>, 2>::JacobiSVD (56 times, avg 265 ms)
 14784 ms: Eigen::JacobiSVD<Eigen::Matrix<double, 3, 3, 0>, 2>::compute (56 times, avg 264 ms)
  9032 ms: Eigen::Transform<double, 3, 1, 0>::operator* (40 times, avg 225 ms)
  9028 ms: Eigen::internal::transform_transform_product_impl<Eigen::Transform<d... (40 times, avg 225 ms)
  5118 ms: Eigen::Matrix<double, 3, 3, 0>::Matrix<Eigen::Product<Eigen::Matrix<... (112 times, avg 45 ms)
  5115 ms: Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3, 0>, Eig... (56 times, avg 91 ms)
  5021 ms: Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0>>::PlainObjectB... (56 times, avg 89 ms)
  4986 ms: Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0>>::_set_noalias... (56 times, avg 89 ms)
  4979 ms: Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, 3, 3... (56 times, avg 88 ms)
  4944 ms: Eigen::internal::Assignment<Eigen::Matrix<double, 3, 3, 0>, Eigen::P... (56 times, avg 88 ms)
  4923 ms: Eigen::internal::generic_product_impl<Eigen::Matrix<double, 3, 3, 0>... (56 times, avg 87 ms)
  4829 ms: Eigen::JacobiSVD<Eigen::Matrix<double, -1, -1, 0>, 2>::JacobiSVD (2 times, avg 2414 ms)
  4811 ms: Eigen::JacobiSVD<Eigen::Matrix<double, -1, -1, 0>, 2>::compute (2 times, avg 2405 ms)
  4348 ms: Eigen::internal::qr_preconditioner_impl<Eigen::Matrix<double, -1, -1... (2 times, avg 2174 ms)
  4195 ms: Eigen::DenseBase<Eigen::Matrix<double, 3, 3, 0>>::isApprox<Eigen::Cw... (56 times, avg 74 ms)
  4186 ms: Eigen::internal::isApprox_selector<Eigen::Matrix<double, 3, 3, 0>, E... (56 times, avg 74 ms)
  4153 ms: Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, 3, 3... (56 times, avg 74 ms)
  4118 ms: Eigen::internal::Assignment<Eigen::Matrix<double, 3, 3, 0>, Eigen::P... (56 times, avg 73 ms)
  4114 ms: Eigen::internal::call_dense_assignment_loop<Eigen::Matrix<double, 3,... (56 times, avg 73 ms)
  4067 ms: rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent_<std::alloc... (31 times, avg 131 ms)
  3744 ms: Eigen::internal::dense_assignment_loop<Eigen::internal::generic_dens... (56 times, avg 66 ms)
  3742 ms: Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 4, 4, 0>, ... (56 times, avg 66 ms)
  3729 ms: Eigen::internal::isApprox_selector<Eigen::Block<const Eigen::Matrix<... (56 times, avg 66 ms)
  3646 ms: Eigen::internal::copy_using_evaluator_DefaultTraversal_InnerUnrollin... (56 times, avg 65 ms)
  3637 ms: Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::ev... (56 times, avg 64 ms)
  3633 ms: Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::ev... (56 times, avg 64 ms)
  3629 ms: Eigen::internal::product_evaluator<Eigen::Product<Eigen::Matrix<doub... (56 times, avg 64 ms)
  3554 ms: rclcpp::Client<rcl_interfaces::srv::DescribeParameters> (31 times, avg 114 ms)
  3545 ms: Eigen::Matrix<double, 3, 1, 0>::operator=<Eigen::Product<Eigen::Bloc... (37 times, avg 95 ms)

**** Template sets that took longest to instantiate:
 55799 ms: Eigen::MatrixBase<$> (5234 times, avg 10 ms)
 37584 ms: Eigen::internal::call_assignment_no_alias<$> (1701 times, avg 22 ms)
 36640 ms: Eigen::internal::Assignment<$>::run (1677 times, avg 21 ms)
 33783 ms: Eigen::DenseBase<$> (5437 times, avg 6 ms)
 28937 ms: Eigen::Transform<$>::computeRotationScaling<$> (56 times, avg 516 ms)
 27510 ms: std::_Hashtable<$> (937 times, avg 29 ms)
 27261 ms: std::unordered_map<$> (693 times, avg 39 ms)
 27063 ms: Eigen::internal::call_assignment<$> (1253 times, avg 21 ms)
 26102 ms: Eigen::internal::call_dense_assignment_loop<$> (1749 times, avg 14 ms)
 26002 ms: Eigen::Matrix<$>::Matrix<$> (715 times, avg 36 ms)
 25070 ms: std::variant<$> (414 times, avg 60 ms)
 24521 ms: Eigen::PlainObjectBase<$>::_set_noalias<$> (558 times, avg 43 ms)
 23126 ms: Eigen::internal::generic_product_impl<$>::evalTo<$> (339 times, avg 68 ms)
 23079 ms: std::pair<$> (2190 times, avg 10 ms)
 22331 ms: std::__detail::__variant::_Variant_base<$> (414 times, avg 53 ms)
 22118 ms: std::__detail::_Insert<$> (815 times, avg 27 ms)
 21985 ms: std::__detail::_Insert_base<$> (815 times, avg 26 ms)
 21235 ms: std::__detail::_Hashtable_alloc<$> (815 times, avg 26 ms)
 20425 ms: rclcpp::Client<$> (186 times, avg 109 ms)
 20282 ms: std::__detail::_Hash_node<$> (748 times, avg 27 ms)
 20258 ms: std::__detail::_Hash_node_value<$> (748 times, avg 27 ms)
 20234 ms: std::__detail::_Hash_node_value_base<$> (748 times, avg 27 ms)
 20199 ms: __gnu_cxx::__aligned_buffer<$> (749 times, avg 26 ms)
 19684 ms: Eigen::JacobiSVD<$>::JacobiSVD (58 times, avg 339 ms)
 19595 ms: Eigen::JacobiSVD<$>::compute (58 times, avg 337 ms)
 19133 ms: std::unique_ptr<$> (1782 times, avg 10 ms)
 17467 ms: Eigen::internal::dense_assignment_loop<$>::run (1793 times, avg 9 ms)
 17010 ms: Eigen::Block<$> (1262 times, avg 13 ms)
 16796 ms: std::tuple<$> (2165 times, avg 7 ms)
 16715 ms: Eigen::BlockImpl<$> (1262 times, avg 13 ms)

**** Functions that took longest to compile:
   191 ms: kinematic_constraints::collectConstraints(std::shared_ptr<rclcpp::No... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/kinematic_constraints/src/utils.cpp)
   167 ms: constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp)
   119 ms: trajectory_processing::IterativeSplineParameterization::computeTimeS... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp)
   119 ms: moveit::core::RobotModel::constructJointModel(urdf::Link const*, srd... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/src/robot_model.cpp)
   119 ms: boost::re_detail_107400::basic_regex_parser<char, boost::regex_trait... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/utils/src/robot_model_test_utils.cpp)
   105 ms: moveit::core::JointModelGroup::JointModelGroup(std::__cxx11::basic_s... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/src/joint_model_group.cpp)
    92 ms: moveit::core::(anonymous namespace)::_robotStateMsgToRobotStateHelpe... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/src/conversions.cpp)
    82 ms: Eigen::JacobiSVD<Eigen::Matrix<double, -1, -1, 0, -1, -1>, 2>::compu... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp)
    81 ms: trajectory_processing::CircularPathSegment::CircularPathSegment(Eige... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp)
    75 ms: collision_detection::CollisionEnvDistanceField::generateDistanceFiel... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp)
    74 ms: Eigen::JacobiSVD<Eigen::Matrix<double, -1, -1, 0, -1, -1>, 2>::compu... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/src/robot_state.cpp)
    71 ms: moveit::core::RobotState::setFromIKSubgroups(moveit::core::JointMode... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/src/robot_state.cpp)
    71 ms: moveit::core::RobotState::setFromIK(moveit::core::JointModelGroup co... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/src/robot_state.cpp)
    65 ms: collision_detection::collisionCallback(fcl::CollisionObject<double>*... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_detection_fcl/src/collision_common.cpp)
    60 ms: Eigen::EigenSolver<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::doCom... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp)
    58 ms: Eigen::internal::partial_lu_impl<double, 0, int, -1>::unblocked_lu(E... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp)
    58 ms: moveit::core::RobotModel::setKinematicsAllocators(std::map<std::__cx... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/src/robot_model.cpp)
    56 ms: moveit::core::attachedBodiesToAttachedCollisionObjectMsgs(std::vecto... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/src/conversions.cpp)
    56 ms: robot_trajectory::RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_trajectory/src/robot_trajectory.cpp)
    55 ms: trajectory_processing::Trajectory::integrateForward(std::__cxx11::li... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp)
    54 ms: moveit::core::RobotModelBuilder::addChain(std::__cxx11::basic_string... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/utils/src/robot_model_test_utils.cpp)
    54 ms: moveit::core::RobotModel::buildJointInfo() (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/src/robot_model.cpp)
    54 ms: boost::re_detail_107400::basic_regex_creator<char, boost::regex_trai... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/utils/src/robot_model_test_utils.cpp)
    52 ms: collision_detection::refineContactNormals(std::shared_ptr<collision_... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_detection/src/collision_octomap_filter.cpp)
    51 ms: pluginlib::ClassLoader<collision_detection::CollisionPlugin>::getAll... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_detection/src/collision_plugin_cache.cpp)
    48 ms: trajectory_processing::Path::Path(std::__cxx11::list<Eigen::Matrix<d... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp)
    48 ms: dynamics_solver::DynamicsSolver::DynamicsSolver(std::shared_ptr<move... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/dynamics_solver/src/dynamics_solver.cpp)
    46 ms: collision_detection::CollisionEnvDistanceField::getIntraGroupCollisi... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp)
    45 ms: boost::re_detail_107400::basic_regex_parser<char, boost::regex_trait... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/utils/src/robot_model_test_utils.cpp)
    44 ms: trajectory_processing::TimeOptimalTrajectoryGeneration::doTimeParame... (/home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp)

**** Function sets that took longest to compile / optimize:
   283 ms: std::_Rb_tree<$>::_M_get_insert_hint_unique_pos(std::_Rb_tree_const_... (53 times, avg 5 ms)
   243 ms: std::vector<$>::_M_default_append(unsigned long) (52 times, avg 4 ms)
   191 ms: kinematic_constraints::collectConstraints(std::shared_ptr<$> const&,... (1 times, avg 191 ms)
   187 ms: std::__shared_ptr<$>::~__shared_ptr() (143 times, avg 1 ms)
   176 ms: std::_Rb_tree_iterator<$> std::_Rb_tree<$>::_M_emplace_hint_unique<$... (62 times, avg 2 ms)
   173 ms: Eigen::JacobiSVD<$>::compute(Eigen::Matrix<$> const&, unsigned int) (3 times, avg 57 ms)
   167 ms: constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(... (1 times, avg 167 ms)
   165 ms: std::vector<$>::~vector() (104 times, avg 1 ms)
   157 ms: std::_Rb_tree<$>::_M_get_insert_unique_pos(std::__cxx11::basic_strin... (57 times, avg 2 ms)
   136 ms: visualization_msgs::msg::Marker_<$>::Marker_(visualization_msgs::msg... (8 times, avg 17 ms)
   122 ms: std::_Rb_tree<$>::_M_erase(std::_Rb_tree_node<$>*) (108 times, avg 1 ms)
   119 ms: boost::re_detail_107400::basic_regex_parser<$>::parse_perl_extension() (1 times, avg 119 ms)
   116 ms: void std::vector<$>::_M_range_insert<$>(__gnu_cxx::__normal_iterator... (11 times, avg 10 ms)
   105 ms: moveit::core::JointModelGroup::JointModelGroup(std::__cxx11::basic_s... (1 times, avg 105 ms)
   104 ms: void std::vector<$>::_M_realloc_insert<$>(__gnu_cxx::__normal_iterat... (17 times, avg 6 ms)
    95 ms: std::vector<$>::vector(std::vector<$> const&) (28 times, avg 3 ms)
    95 ms: void std::_Rb_tree<$>::_M_construct_node<$>(std::_Rb_tree_node<$>*, ... (48 times, avg 1 ms)
    92 ms: moveit::core::(anonymous namespace)::_robotStateMsgToRobotStateHelpe... (1 times, avg 92 ms)
    92 ms: non-virtual thunk to boost::wrapexcept<$>::~wrapexcept() (21 times, avg 4 ms)
    91 ms: Eigen::internal::product_triangular_matrix_matrix<$>::run(long, long... (8 times, avg 11 ms)
    86 ms: Eigen::internal::general_matrix_vector_product<$>::run(long, long, E... (6 times, avg 14 ms)
    84 ms: Eigen::internal::dense_assignment_loop<$>::run(Eigen::internal::gene... (11 times, avg 7 ms)
    84 ms: std::_Rb_tree<$>::find(std::__cxx11::basic_string<$> const&) const (35 times, avg 2 ms)
    82 ms: Eigen::ColPivHouseholderQR<$>::computeInPlace() (2 times, avg 41 ms)
    81 ms: trajectory_processing::CircularPathSegment::CircularPathSegment(Eige... (1 times, avg 81 ms)
    76 ms: void Eigen::internal::make_block_householder_triangular_factor<$>(Ei... (2 times, avg 38 ms)
    75 ms: collision_detection::CollisionEnvDistanceField::generateDistanceFiel... (1 times, avg 75 ms)
    74 ms: void Eigen::internal::make_block_householder_triangular_factor<$>(Ei... (2 times, avg 37 ms)
    71 ms: boost::re_detail_107400::basic_regex_creator<$>::append_set(boost::r... (2 times, avg 35 ms)
    71 ms: moveit::core::RobotState::setFromIKSubgroups(moveit::core::JointMode... (1 times, avg 71 ms)

*** Expensive headers:
134543 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/include/moveit/robot_model/robot_model.h (included 46 times, avg 2924 ms), included via:
  robot_model.cpp.o  (4084 ms)
  constraint_sampler_tools.cpp.o constraint_sampler_tools.h constraint_sampler.h planning_scene.h  (4055 ms)
  kinematics_metrics.cpp.o kinematics_metrics.h robot_state.h  (4022 ms)
  joint_model_group.cpp.o  (4002 ms)
  collision_common_distance_field.cpp.o collision_common_distance_field.h robot_state.h  (4001 ms)
  kinematic_constraint.cpp.o kinematic_constraint.h  (3963 ms)
  ...

111741 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h (included 47 times, avg 2377 ms), included via:
  constraint_sampler_tools.cpp.o constraint_sampler_tools.h constraint_sampler.h planning_scene.h robot_model.h  (3133 ms)
  joint_model_group.cpp.o robot_model.h  (3110 ms)
  kinematics_metrics.cpp.o kinematics_metrics.h robot_state.h robot_model.h  (3109 ms)
  planning_response.cpp.o planning_response.h robot_trajectory.h robot_state.h robot_model.h  (3100 ms)
  iterative_spline_parameterization.cpp.o iterative_spline_parameterization.h robot_trajectory.h robot_state.h robot_model.h  (3078 ms)
  collision_common_distance_field.cpp.o collision_common_distance_field.h robot_state.h robot_model.h  (3076 ms)
  ...

66031 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h (included 47 times, avg 1404 ms), included via:
  kinematics_base.cpp.o  (2493 ms)
  dynamics_solver.cpp.o dynamics_solver.h robot_state.h robot_model.h joint_model_group.h  (1677 ms)
  constraint_sampler_tools.cpp.o constraint_sampler_tools.h constraint_sampler.h planning_scene.h robot_model.h joint_model_group.h  (1651 ms)
  kinematics_metrics.cpp.o kinematics_metrics.h robot_state.h robot_model.h joint_model_group.h  (1636 ms)
  planning_response.cpp.o planning_response.h robot_trajectory.h robot_state.h robot_model.h joint_model_group.h  (1622 ms)
  joint_model_group.cpp.o robot_model.h joint_model_group.h  (1613 ms)
  ...

62084 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h (included 29 times, avg 2140 ms), included via:
  collision_env_bullet.cpp.o collision_env_bullet.h collision_env.h collision_matrix.h  (4118 ms)
  collision_octomap_filter.cpp.o  (4065 ms)
  collision_env.cpp.o collision_env.h collision_matrix.h  (4051 ms)
  collision_matrix.cpp.o collision_matrix.h  (4042 ms)
  collision_tools.cpp.o collision_tools.h  (4036 ms)
  collision_env_allvalid.cpp.o collision_env_allvalid.h collision_env.h collision_matrix.h  (4033 ms)
  ...

60241 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_state/include/moveit/robot_state/robot_state.h (included 33 times, avg 1825 ms), included via:
  kinematics_metrics.cpp.o kinematics_metrics.h  (4318 ms)
  collision_common_distance_field.cpp.o collision_common_distance_field.h  (4288 ms)
  conversions.cpp.o conversions.h  (4228 ms)
  robot_state.cpp.o  (4225 ms)
  planning_response.cpp.o planning_response.h robot_trajectory.h  (4065 ms)
  iterative_time_parameterization.cpp.o iterative_time_parameterization.h robot_trajectory.h  (4035 ms)
  ...

57033 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h (included 19 times, avg 3001 ms), included via:
  iterative_spline_parameterization.cpp.o iterative_spline_parameterization.h  (6074 ms)
  planning_response.cpp.o planning_response.h  (6007 ms)
  robot_trajectory.cpp.o  (6005 ms)
  iterative_time_parameterization.cpp.o iterative_time_parameterization.h  (6000 ms)
  planning_interface.cpp.o planning_interface.h planning_response.h  (5049 ms)
  planning_request_adapter.cpp.o planning_request_adapter.h planning_interface.h planning_response.h  (5039 ms)
  ...

45422 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/robot_model/include/moveit/robot_model/joint_model.h (included 54 times, avg 841 ms), included via:
  prismatic_joint_model.cpp.o prismatic_joint_model.h  (1869 ms)
  floating_joint_model.cpp.o floating_joint_model.h  (1839 ms)
  planar_joint_model.cpp.o planar_joint_model.h  (1834 ms)
  fixed_joint_model.cpp.o fixed_joint_model.h  (1823 ms)
  revolute_joint_model.cpp.o revolute_joint_model.h  (1806 ms)
  joint_model.cpp.o  (1630 ms)
  ...

45073 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h (included 12 times, avg 3756 ms), included via:
  constraint_sampler_tools.cpp.o constraint_sampler_tools.h constraint_sampler.h  (6794 ms)
  constraint_sampler.cpp.o constraint_sampler.h  (6667 ms)
  default_constraint_samplers.cpp.o default_constraint_samplers.h constraint_sampler.h  (6620 ms)
  union_constraint_sampler.cpp.o union_constraint_sampler.h constraint_sampler.h  (6549 ms)
  constraint_sampler_manager.cpp.o constraint_sampler_manager.h constraint_sampler_allocator.h constraint_sampler.h  (6545 ms)
  planning_scene.cpp.o  (5313 ms)
  ...

41866 ms: /usr/include/eigen3/Eigen/Geometry (included 63 times, avg 664 ms), included via:
  aabb.cpp.o aabb.h  (1447 ms)
  contact_checker_common.cpp.o contact_checker_common.h  (1329 ms)
  link_model.cpp.o link_model.h  (1239 ms)
  attached_body.cpp.o attached_body.h link_model.h  (1207 ms)
  collision_distance_field_types.cpp.o collision_distance_field_types.h bodies.h aabb.h  (1005 ms)
  transforms.cpp.o transforms.h  (966 ms)
  ...

38439 ms: /home/jafar/workspaces/ros2/ws_moveit2_compile_profiling/src/moveit2/moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h (included 26 times, avg 1478 ms), included via:
  collision_env_bullet.cpp.o collision_env_bullet.h collision_env.h  (4165 ms)
  collision_env.cpp.o collision_env.h  (4096 ms)
  collision_matrix.cpp.o  (4086 ms)
  collision_env_allvalid.cpp.o collision_env_allvalid.h collision_env.h  (4077 ms)
  collision_env_fcl.cpp.o collision_env_fcl.h collision_env.h  (4013 ms)
  collision_env_hybrid.cpp.o collision_detector_allocator_hybrid.h collision_detector_allocator.h collision_env.h  (4003 ms)
  ...

  done in 0.2s.

@JafarAbdi
Copy link
Member Author

JafarAbdi commented Jun 10, 2022

If anyone is interested in helping, please let me know, we have 37 packages and this PR only touch one :D

@JafarAbdi JafarAbdi force-pushed the pr-compile_time_improvements branch from 856900f to 5014e24 Compare June 10, 2022 15:55
@JafarAbdi
Copy link
Member Author

JafarAbdi commented Jun 10, 2022

Ok, I did the same for the whole codebase, I got ~286s reduction see https://gist.github.com/JafarAbdi/cd9735c2eb9cdf6e8906e057c9b18590

@JafarAbdi JafarAbdi force-pushed the pr-compile_time_improvements branch from 7d1d55d to 4ed6ecb Compare June 10, 2022 20:27
@codecov
Copy link

codecov bot commented Jun 10, 2022 •
edited
Loading

Codecov Report

Merging #1333 (3a5732a) into main (990925e) will increase coverage by 0.02%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main    #1333      +/-   ##
==========================================
+ Coverage   61.56%   61.58%   +0.02%     
==========================================
  Files         274      274              
  Lines       24966    24965       -1     
==========================================
+ Hits        15369    15373       +4     
+ Misses       9597     9592       -5
Impacted Files Coverage Δ
..._detection/src/allvalid/collision_env_allvalid.cpp 7.85% <ø> (ø)
..._core/collision_detection/src/collision_common.cpp 50.00% <ø> (ø)
...eit_core/collision_detection/src/collision_env.cpp 72.58% <ø> (ø)
..._core/collision_detection/src/collision_matrix.cpp 37.15% <ø> (ø)
...llision_detection/src/collision_octomap_filter.cpp 0.00% <ø> (ø)
...collision_detection/src/collision_plugin_cache.cpp 82.36% <ø> (ø)
...t_core/collision_detection/src/collision_tools.cpp 0.00% <ø> (ø)
moveit_core/collision_detection/src/world.cpp 88.11% <ø> (ø)
...src/bullet_integration/bullet_cast_bvh_manager.cpp 52.86% <ø> (+1.43%) ⬆️
...bullet_integration/bullet_discrete_bvh_manager.cpp 50.00% <ø> (ø)
... and 65 more

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 990925e...3a5732a. Read the comment docs.

tylerjw
tylerjw approved these changes Jun 10, 2022
View reviewed changes
Copy link
Member

@tylerjw tylerjw left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

This is a really nice change, thank you.

@v4hn
Copy link
Contributor

v4hn commented Jun 11, 2022 via email

@sjahr sjahr mentioned this pull request Jun 13, 2022
Closed
6 tasks
@JafarAbdi JafarAbdi force-pushed the pr-compile_time_improvements branch from 42f9c7a to 4551c69 Compare June 13, 2022 18:17
@JafarAbdi JafarAbdi force-pushed the pr-compile_time_improvements branch from 4551c69 to 3a5732a Compare June 13, 2022 22:30
@henningkayser henningkayser merged commit 3d49131 into moveit:main Jun 14, 2022
peterdavidfagan pushed a commit to peterdavidfagan/moveit2 that referenced this pull request Jul 14, 2022
@JafarAbdi @peterdavidfagan
Remove unnecessary rclcpp.hpp includes (moveit#1333)
9f99046
@ruffsl ruffsl mentioned this pull request Sep 14, 2022
Closed
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@tylerjw tylerjw tylerjw approved these changes

@henningkayser henningkayser henningkayser approved these changes

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

4 participants

@JafarAbdi @v4hn @tylerjw @henningkayser