Added StaticSingleThreadedExecutor add/remove node tests

ahcorde · ahcorde · commit 5fc0cac8814e · 2020-11-04T09:01:05.000+01:00
Signed-off-by: ahcorde &lt;ahcorde@gmail.com&gt;
diff --git a/rclcpp/test/benchmark/benchmark_executor.cpp b/rclcpp/test/benchmark/benchmark_executor.cpp
@@ -183,6 +183,28 @@ BENCHMARK_F(PerformanceTestExecutorSimple, multi_thread_executor_remove_node)(be
   }
 }
 
+BENCHMARK_F(PerformanceTestExecutorSimple, static_single_thread_executor_add_node)(benchmark::State & st)
+{
+  rclcpp::executors::StaticSingleThreadedExecutor executor;
+  for (auto _ : st) {
+    executor.add_node(node);
+    st.PauseTiming();
+    executor.remove_node(node);
+    st.ResumeTiming();
+  }
+}
+
+BENCHMARK_F(PerformanceTestExecutorSimple, static_single_thread_executor_remove_node)(benchmark::State & st)
+{
+  rclcpp::executors::StaticSingleThreadedExecutor executor;
+  for (auto _ : st) {
+    st.PauseTiming();
+    executor.add_node(node);
+    st.ResumeTiming();
+    executor.remove_node(node);
+  }
+}
+
 BENCHMARK_F(
   PerformanceTestExecutorSimple,
   static_single_thread_executor_spin_until_future_complete)(benchmark::State & st)
