Port terrain planner benchmark to ros2 #73
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Signed-off-by: Ryan Friedman <[email protected]>
Ryanf55
commented
Nov 29, 2024
| <arg name="runs" default="50"/> | ||
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| <node pkg="tf" type="static_transform_publisher" name="world_map" args="0 0 0 0 0 0 world map 10"/> |
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This would publish TF at 100Hz. In ROS 2, the static tf publisher is using transient local durability, so it's not necessary to republish.
Ryanf55
commented
Nov 29, 2024
Ryanf55
commented
Nov 29, 2024
| @@ -164,8 +164,8 @@ int main(int argc, char** argv) { | |||
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| auto grid_map_pub_ = nh.advertise<grid_map_msgs::GridMap>("grid_map", 1, true); | |||
| auto reference_map_pub_ = nh.advertise<grid_map_msgs::GridMap>("reference_map", 1, true); | |||
| auto yaw_pub = nh.advertise<visualization_msgs::Marker>("yaw", 1, true); | |||
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Some of these changes are find+replace, so more are needed to get these other tests and tools to compile. I'll get them ported after this PR goes in.
Ryanf55
commented
Nov 29, 2024
| add_dependencies(surface_visualization ${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY}) | ||
| target_link_libraries(surface_visualization ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES} ${OMPL_LIBRARIES}) | ||
| add_executable(terrain_planner_benchmark_node) | ||
| add_executable(ompl_benchmark_node EXCLUDE_FROM_ALL) |
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EXCLUDE_FROM_ALL makes it not compiled by default. They won't compile yet, each one needs ported. I was hoping to do a PR for each executable.
Signed-off-by: Ryan Friedman <[email protected]>
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* Only ported the terrain_planner_benchmark_node so far, the rest are excluded Signed-off-by: Ryan Friedman <[email protected]>
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Purpose
Port the terrain planner benchmark to ROS 2, and exclude the rest from the build.
Also, update the CMakeLists and package.xml to work in ROS 2.
Finally, fix incorrect export in terrain_planner w.r.t boost components: ament/ament_cmake#456
The benchmarks are useful to test behavior, porting them to ROS 2 allows us to better test improvements.
System Usage
The terrain planner benchmark shows it occupying an entire single CPU during the test.
Results
For now, it will silently fail to print results by default. I'll add a follow up to create the output directory if it doesn't exist.
Note
I came across this assertion once:
TODO
goaltype_benchmark.launch