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Use thread pool to run benchmark publishers in rosbag2_performance_benchmarking #1250

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merged 11 commits into from Feb 28, 2023
Merged

Use thread pool to run benchmark publishers in rosbag2_performance_benchmarking #1250

merged 11 commits into from Feb 28, 2023

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carlossvg
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@carlossvg carlossvg commented Feb 27, 2023 •
edited by MichaelOrlov

Follow-up from: #1171 (comment)
Related to: #688

Depends on #1153

This PR changes benchmark_publishers to use a thread pool instead of running each publisher in separate threads. The motivation for this change is to overcome a limitation on the number of threads imposed by Cyclone DDS (limited to 128 threads).

carlossvg and others added 11 commits February 27, 2023 09:04
@carlossvg
Add thread pool for benchmark_publishers execution
193a52d 
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
@carlossvg
Default the number of threads to the number of publishers
ee025fb 
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
@sloretz @carlossvg
Skip ament_package() call when not building rosbag2_performance_bench…
fa37aca 
…marking (ros2#1242)

Signed-off-by: Shane Loretz <sloretz@google.com>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
@carlossvg @MichaelOrlov
Update rosbag2_performance/rosbag2_performance_benchmarking/include/r…
0a8813f 
…osbag2_performance_benchmarking/config_utils.hpp

Co-authored-by: Michael Orlov <morlovmr@gmail.com>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
@carlossvg @MichaelOrlov
Update rosbag2_performance/rosbag2_performance_benchmarking/include/r…
8619e72 
…osbag2_performance_benchmarking/thread_pool.hpp

Co-authored-by: Michael Orlov <morlovmr@gmail.com>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
@carlossvg @MichaelOrlov
Update rosbag2_performance/rosbag2_performance_benchmarking/src/bench…
7bb379f 
…mark_publishers.cpp

Co-authored-by: Michael Orlov <morlovmr@gmail.com>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
@carlossvg @MichaelOrlov
Update rosbag2_performance/rosbag2_performance_benchmarking/include/r…
6fa2b29 
…osbag2_performance_benchmarking/thread_pool.hpp

Co-authored-by: Michael Orlov <morlovmr@gmail.com>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
@carlossvg @MichaelOrlov
Update rosbag2_performance/rosbag2_performance_benchmarking/include/r…
1a9fbfa 
…osbag2_performance_benchmarking/thread_pool.hpp

Co-authored-by: Michael Orlov <morlovmr@gmail.com>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
@carlossvg
Address reviewer comments
c1e6989 
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
@carlossvg
Address reviewer comments
1d6ace5 
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
@carlossvg
Address reviewer comments
66a4ef3 
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
@carlossvg carlossvg requested a review from a team as a code owner February 27, 2023 08:10
@carlossvg carlossvg requested review from emersonknapp and jhdcs and removed request for a team February 27, 2023 08:10
@carlossvg carlossvg mentioned this pull request Feb 27, 2023
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@MichaelOrlov MichaelOrlov changed the title Add thread pool Use thread pool to run benchmark publishers in rosbag2_performance_benchmarking Feb 28, 2023
MichaelOrlov
MichaelOrlov approved these changes Feb 28, 2023
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@carlossvg LGTM. Thanks for restoring PR.

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@ros-pull-request-builder retest this please

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Gist: https://gist.githubusercontent.com/MichaelOrlov/ca15d2faeb4b9e50d96c0c663ec65a96/raw/6a833de131f461ffff0171ab0b8a2a5490362943/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_performance_benchmarking --cmake-args -DB U I L D _ R O S B A G 2 _ B E N C H M A R K S = 1
TEST args: --packages-above rosbag2_performance_benchmarking
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/11510

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

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Gist: https://gist.githubusercontent.com/MichaelOrlov/6b0258febb43edc9f0e760e6ab243c68/raw/6a833de131f461ffff0171ab0b8a2a5490362943/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_performance_benchmarking --cmake-args -DBUILD_ROSBAG2_BENCHMARKS=1
TEST args: --packages-above rosbag2_performance_benchmarking
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/11511

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

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Gist: https://gist.githubusercontent.com/MichaelOrlov/6b0258febb43edc9f0e760e6ab243c68/raw/6a833de131f461ffff0171ab0b8a2a5490362943/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_performance_benchmarking --cmake-args -DBUILD_ROSBAG2_BENCHMARKS=1
TEST args: --packages-above rosbag2_performance_benchmarking
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/11512

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@MichaelOrlov MichaelOrlov merged commit 6160bb3 into ros2:rolling Feb 28, 2023
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This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-2-tsc-meeting-minutes-2023-03-16/30432/1

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@MichaelOrlov MichaelOrlov MichaelOrlov approved these changes

@emersonknapp emersonknapp Awaiting requested review from emersonknapp emersonknapp is a code owner automatically assigned from ros2/tooling-reviewers

@jhdcs jhdcs Awaiting requested review from jhdcs jhdcs is a code owner automatically assigned from ros2/tooling-reviewers

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@carlossvg @MichaelOrlov @ros-discourse @sloretz