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Benchmark rclcpp_action action_client #1429

Merged
merged 2 commits into from
Oct 30, 2020
Merged

Benchmark rclcpp_action action_client #1429

merged 2 commits into from
Oct 30, 2020

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brawner
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@brawner brawner commented Oct 29, 2020

This PR adds benchmarks for the action client against a trivial fibonacci action server.

Example results

----------------------------------------------------------------------------------------------------------------------------
Benchmark                                                                  Time             CPU   Iterations UserCounters...
----------------------------------------------------------------------------------------------------------------------------
ActionClientPerformanceTest/construct_client_without_server           406986 ns       405404 ns         1895 heap_allocations=607.852
ActionClientPerformanceTest/construct_client_with_server              445265 ns       437031 ns         1442 heap_allocations=701.658
ActionClientPerformanceTest/destroy_client                            296199 ns       252146 ns         2873 heap_allocations=607.326
ActionClientPerformanceTest/async_send_goal_only                        9721 ns         6593 ns       111837 heap_allocations=6.99786
ActionClientPerformanceTest/async_send_goal_rejected                  153292 ns        54992 ns        12823 heap_allocations=64.799
ActionClientPerformanceTest/async_send_goal_get_accepted_response     633245 ns       486516 ns         2547 heap_allocations=110.916
ActionClientPerformanceTest/async_get_result                          455398 ns       309215 ns         5410 heap_allocations=183.366
ActionClientPerformanceTest/async_cancel_goal                         535698 ns       387064 ns         3465 heap_allocations=195.695
ActionClientPerformanceTest/async_cancel_all_goals                   1234952 ns      1079082 ns         1000 heap_allocations=1.19876k

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

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Benchmark rclcpp_action action_client
b8ed500 
Signed-off-by: Stephen Brawner <brawner@gmail.com>
@brawner brawner force-pushed the brawner/rclcpp_action-benchmark-client branch from af45c90 to b8ed500 Compare October 29, 2020 00:43
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brawner commented Oct 29, 2020

Building with benchmarks on. Testing --packages-select rclcpp_action

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ahcorde
ahcorde requested changes Oct 29, 2020
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01:57:02 	 12 - benchmark_action_client (Timeout)

@brawner
Bump timeout
e1e2272 
Signed-off-by: Stephen Brawner <brawner@gmail.com>
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brawner commented Oct 29, 2020

Bumped timeout

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@brawner brawner merged commit 2309811 into master Oct 30, 2020
@delete-merged-branch delete-merged-branch bot deleted the brawner/rclcpp_action-benchmark-client branch October 30, 2020 17:40
brawner added a commit that referenced this pull request Nov 5, 2020
@brawner
Benchmark rclcpp_action action_client (#1429)
b79d9df 
* Benchmark rclcpp_action action_client

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

* Bump timeout

Signed-off-by: Stephen Brawner <brawner@gmail.com>
brawner added a commit that referenced this pull request Nov 6, 2020
@brawner
Benchmark rclcpp_action action_client (#1429)
3dd584b 
* Benchmark rclcpp_action action_client

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

* Bump timeout

Signed-off-by: Stephen Brawner <brawner@gmail.com>
brawner added a commit that referenced this pull request Nov 7, 2020
@brawner
Benchmark rclcpp_action action_client (#1429)
5607c32 
* Benchmark rclcpp_action action_client

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

* Bump timeout

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

@cottsay cottsay Awaiting requested review from cottsay

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