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Add rclcpp_action action_server benchmarks#1433

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brawner merged 4 commits intomasterfrom
brawner/rclcpp_action-benchmark-service
Nov 5, 2020
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Add rclcpp_action action_server benchmarks#1433
brawner merged 4 commits intomasterfrom
brawner/rclcpp_action-benchmark-service

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@brawner brawner commented Oct 30, 2020

This PR adds benchmarks for rclcpp_action's action server.

Building with benchmarks and testing --packages-select rclcpp_action

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Signed-off-by: Stephen Brawner brawner@gmail.com

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Add rclcpp_action action_server benchmarks
ceb2611 
Signed-off-by: Stephen Brawner <brawner@gmail.com>
@brawner brawner requested review from ahcorde and cottsay October 30, 2020 20:28
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brawner commented Oct 30, 2020

Cancel goal benchmark is failing currently for some reason, so I need to debug that, but I thought it would be helpful to get some initial feedback on this PR.

----------------------------------------------------------------------------------------------------------------------
Benchmark                                                            Time             CPU   Iterations UserCounters...
----------------------------------------------------------------------------------------------------------------------
ActionServerPerformanceTest/construct_server_without_client     395762 ns       393917 ns         1732 heap_allocations=561.804
ActionServerPerformanceTest/construct_server_with_client        480011 ns       477238 ns         1501 heap_allocations=715.023
ActionServerPerformanceTest/destroy_server                      388775 ns       313155 ns         2140 heap_allocations=714.492
ActionServerPerformanceTest/action_server_accept_goal           605445 ns       457998 ns         2656 heap_allocations=110.758
ActionServerPerformanceTest/action_server_cancel_goal       ERROR OCCURRED: 'Cancel request did not succeed'
ActionServerPerformanceTest/action_server_execute_goal          545994 ns       545802 ns        10570 heap_allocations=119.1
ActionServerPerformanceTest/action_server_set_success           500492 ns       500318 ns         8609 heap_allocations=117.078
ActionServerPerformanceTest/action_server_abort                 447334 ns       447172 ns         9135 heap_allocations=117.217

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Address cancel bug
b2295aa 
Signed-off-by: Stephen Brawner <brawner@gmail.com>
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brawner commented Nov 2, 2020

I think I was able to address the above bug

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Fix errors
b48ba74 
Signed-off-by: Stephen Brawner <brawner@gmail.com>
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brawner commented Nov 2, 2020

Addressed a couple of issues that only Windows seemed to care about.

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brawner commented Nov 2, 2020 •
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Interestingly, MSVC doesn't seem to handle constexpr variables appropriately with respect to lambda captures. Anyway, Clang and MSVC disagree about the resolution. I hope the most recent commit is something they can agree on

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Fix clang error
0e72aa0 
Signed-off-by: Stephen Brawner <brawner@gmail.com>
@brawner brawner force-pushed the brawner/rclcpp_action-benchmark-service branch from 5d1ae40 to 0e72aa0 Compare November 2, 2020 22:09
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brawner commented Nov 3, 2020

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@brawner brawner merged commit 5fe6840 into master Nov 5, 2020
@delete-merged-branch delete-merged-branch bot deleted the brawner/rclcpp_action-benchmark-service branch November 5, 2020 20:09
brawner added a commit that referenced this pull request Nov 5, 2020
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Add rclcpp_action action_server benchmarks (#1433)
e2dddf1 
* Add rclcpp_action action_server benchmarks

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address cancel bug

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix errors

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix clang error

Signed-off-by: Stephen Brawner <brawner@gmail.com>
brawner added a commit that referenced this pull request Nov 6, 2020
@brawner
Add rclcpp_action action_server benchmarks (#1433)
072f012 
* Add rclcpp_action action_server benchmarks

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address cancel bug

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix errors

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix clang error

Signed-off-by: Stephen Brawner <brawner@gmail.com>
brawner added a commit that referenced this pull request Nov 7, 2020
@brawner
Add rclcpp_action action_server benchmarks (#1433)
29cfc45 
* Add rclcpp_action action_server benchmarks

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address cancel bug

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix errors

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Fix clang error

Signed-off-by: Stephen Brawner <brawner@gmail.com>
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@ahcorde ahcorde ahcorde approved these changes

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