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Add argument for thread count to multithreaded executor #442

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merged 1 commit into from
Mar 30, 2018
Merged

Add argument for thread count to multithreaded executor #442

merged 1 commit into from
Mar 30, 2018

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matt-attack
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Resolves #441

tfoote
tfoote approved these changes Feb 21, 2018
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lgtm. I'll kick off CI too.

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tfoote commented Feb 21, 2018 •
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CI:
Linux: Build Status
Linux arm64: Build Status
OSX: Build Status
Windows: Build Status

@tfoote tfoote added the in review Waiting for review (Kanban column) label Feb 21, 2018
@mjcarroll
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@matt-attack I think that the previous CI failures were caused on our end. Can you rebase your branch against the current master and I will resubmit the job.

@matt-attack matt-attack force-pushed the 441-make-thread-count-configurable branch from 95393cf to bdef89d Compare March 29, 2018 17:44
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@mjcarroll Should be rebased now

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The windows rebuild looks to be successful, so LGTM: https://ci.ros2.org/job/ci_windows/4264/

@tfoote Did you have any other reason to keep this out?

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tfoote commented Mar 30, 2018

nope, all set

@tfoote tfoote merged commit fa81d95 into ros2:master Mar 30, 2018
@tfoote tfoote removed the in review Waiting for review (Kanban column) label Mar 30, 2018
nnmm pushed a commit to ApexAI/rclcpp that referenced this pull request Jul 9, 2022
@jacobperron
Fix leaks in rcl_action unit tests (ros2#442)
3806aa2 
Fix memory leaks detected by AddressSanitizer from rcl_action unit
tests.

Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this pull request Aug 5, 2022
@adamdbrw @jaroszekpiotr
@pijaro @Karsten1987
performance testing packages (ros2#442)
d810a4c 
* Init commit

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Readme and package dependencies cleaned.

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Benchmark launch file

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Dummy warmup publishers and raport gen barebone

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* added todo for system usage

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Added I/O benchmarking section 

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* config file wip

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Pc2 worker, bench and raport dirs

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* added benchmark sample config

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Moved scripts to a dir

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Simple system monitor

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Updated readme

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* added notice

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Update readme.md

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Mkdir fix

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Update readme.md

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* plotting WIP script plus an example file with logs

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Raport gen, monitor with iotop

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Disk bw fix. Instances in raport fix.

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Typo fix

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Fix in memory time axis

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Another axis fix

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* sqlite.conf for patched version of rosbag2

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Improved plotting (added message count, count start includes fractions of second, color etc)

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* data examples

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* large examples over 10000 messages

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Byte array worker, instantiation improvements

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* total captured in raport

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* voyager wip

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* workers refactored

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* launchfile refactor

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* More improvement and voyager case

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* removed some commented out lines

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Update readme.md

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* moved directories of performance packages into rosbag2_performance folder

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* commented out 1000x1000 case in voyager

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Update readme.md

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* added html template to exported files

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* First version of no-transport benchmarking
- Scalable with number of producer threads
- Uses queues to simulate message loss in callback queues. Unlike some other implementations allows to count loss messages.
- ASCII visualisation of work (better than it sounds).

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Improved parameters and added scripting to run batches. These were used to acquire first results

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Update readme.md

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Changes towards resolving WIP status
- Added copyright and license to files
- Split and updated READMEs
- Refactored writer_benchmarking, splitting classes into separate files
- added ctrl-c handling to writer_benchmarking, in script and in producers

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* lint changes

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Removed large files from repo
Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* PEP8 issues refactor, rosbag2_benchmarking package info updated.

Signed-off-by: Piotr Jaroszek <piotr.jaroszek@robotec.ai>

* fixed an issue with SQLite crash with cache>1 due to released message memory

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* uncrustify

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Introduced BUILD_PERFORMANCE flag to control the package build. Use colcon build --cmake-args -DBUILD_PERFORMANCE=1.

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* linter changes and missingcopyrights

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Update README.md

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Removed unnecessary wording

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Fixed bad spelling raport->report

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Report stats from time 0

Signed-off-by: Piotr Jaroszek <piotr.jaroszek@robotec.ai>

* minor cleaning of writer_benchmarking package

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* removed other performance packages from PR. These will be added later and reviewed separately

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* removed accidental change

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Applied review changes

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* enforced shared pointer in queue api, added whitespaces

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* mVar -> _var, camelCase -> snake_case

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* writing results to a csv file

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* style touchups and linters

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* A fix in fio command, thanks to Karsten Knese

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Added spinning (in thread) to handle parameters

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Typo fix

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Applied review remarks
- node name changed to reflect package name
- value now in main and constructor takes name argument
- benchmark folder management adjusted to changes after rebase
- benchmark now remaps node (adding "_batch").
- removed unnecessary find on rosbag2_transport

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* portable auto type to remove Windows warning. Thanks KK

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

Co-authored-by: Piotr Jaroszek <jaroszekpiotr@gmail.com>
Co-authored-by: Piotr Jaroszek <piotr.jaroszek@robotec.ai>
Co-authored-by: Adam Dąbrowski <1961316-adamdbrw@users.noreply.gitlab.com>
Co-authored-by: Karsten Knese <karsten@openrobotics.org>
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@matt-attack @tfoote @mjcarroll