Performance benchmarking improvements (ros2#634)

* Performance benchmarking improvements Signed-off-by: Piotr Jaroszek <piotr.jaroszek@robotec.ai> * fixed durability qos in config Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai> * Benchmark db files information in one file Signed-off-by: Piotr Jaroszek <piotr.jaroszek@robotec.ai> Co-authored-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
DensoADAS · Feb 12, 2021 · e6377d7 · e6377d7
1 parent 10fff0d
commit e6377d7
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Showing 3 changed files with 33 additions and 8 deletions.
diff --git a/rosbag2_performance/rosbag2_performance_benchmarking/launch/benchmark_launch.py b/rosbag2_performance/rosbag2_performance_benchmarking/launch/benchmark_launch.py
@@ -51,6 +51,7 @@
 import shutil
 import signal
 import sys
+import time
 
 from ament_index_python import get_package_share_directory
 
@@ -196,8 +197,22 @@ def _producer_node_exited(event, context):
     # Handle clearing bag files
     if not node_params['preserve_bags']:
         db_files = pathlib.Path.cwd().joinpath(node_params['db_folder']).glob('*.db3')
+        stats_path = pathlib.Path.cwd().joinpath(node_params['db_folder'], 'bagfiles_info.yaml')
+        stats = {
+            'total_size': 0,
+            'bagfiles': []
+        }
+
+        # Delete rosbag files
         for f in db_files:
+            filesize = f.stat().st_size
             f.unlink()
+            stats['bagfiles'].append({f.name: {'size': filesize}})
+            stats['total_size'] += filesize
+
+        # Dump files size information
+        with open(stats_path, 'w') as stats_file:
+            yaml.dump(stats, stats_file)
 
     # If we have non empty rosbag PID, then we need to kill it (end-to-end transport case)
     if _rosbag_pid is not None and transport:
@@ -217,6 +232,10 @@ def _producer_node_exited(event, context):
 
     # Bump up producer index, so the launch sequence can continue
     _producer_idx += 1
+
+    # Give disks some time to flush their internal cache before starting next experiment
+    time.sleep(5)
+
     return [
         launch.actions.LogInfo(
             msg='---------------------------'
@@ -435,7 +454,7 @@ def __generate_cross_section_parameter(i,
                     'sigkill_timeout', default=60),
                 sigterm_timeout=launch.substitutions.LaunchConfiguration(
                     'sigterm_timeout', default=60),
-                cmd=['ros2', 'bag', 'record', '-a'] + rosbag_args
+                cmd=['ros2', 'bag', 'record', '-e', r'\/.*_benchmarking_node\/.*'] + rosbag_args
             )
 
             # Result writer node walks through output metadata files and generates

diff --git a/rosbag2_performance/rosbag2_performance_benchmarking/scripts/report_gen.py b/rosbag2_performance/rosbag2_performance_benchmarking/scripts/report_gen.py
@@ -106,12 +106,16 @@ def __process_test(compression_selected,
                     cache_samples[sample[0]['cache_size']].append(
                         int(sample[0]['total_recorded_count'])/sample_total_produced)
 
-                cache_avg_recorded_percentage = {
-                    cache: statistics.mean(samples)
+                cache_recorded_percentage_stats = {
+                    cache: {
+                        'avg': statistics.mean(samples),
+                        'min': min(samples),
+                        'max': max(samples)
+                    }
                     for cache, samples in cache_samples.items()
                 }
                 cache_data_per_storage_conf.update(
-                    {storage_cfg_name: cache_avg_recorded_percentage}
+                    {storage_cfg_name: cache_recorded_percentage_stats}
                 )
 
             result = {
@@ -135,9 +139,11 @@ def __process_test(compression_selected,
             for storage_cfg, caches in result['cache_data'].items():
                 print('\t\tstorage config: {}:'.format(pathlib.Path(storage_cfg).name))
                 for cache, percent_recorded in caches.items():
-                    print('\t\t\tcache [bytes]: {:,}: {:.2%} recorded'.format(
+                    print('\t\t\tcache {:,} - min: {:.2%}, average: {:.2%}, max: {:.2%}'.format(
                         int(cache),
-                        percent_recorded))
+                        percent_recorded['min'],
+                        percent_recorded['avg'],
+                        percent_recorded['max']))
 
         [
             __process_test(

diff --git a/rosbag2_performance/rosbag2_performance_benchmarking/src/config_utils.cpp b/rosbag2_performance/rosbag2_performance_benchmarking/src/config_utils.cpp
@@ -43,8 +43,8 @@ void load_qos_configuration(
   // TODO(adamdbrw) - error handling / map string to function
   if (qos_reliability == "reliable") {group_config.qos.reliable();}
   if (qos_reliability == "best_effort") {group_config.qos.best_effort();}
-  if (qos_reliability == "transient_local") {group_config.qos.transient_local();}
-  if (qos_reliability == "volatile") {group_config.qos.durability_volatile();}
+  if (qos_durability == "transient_local") {group_config.qos.transient_local();}
+  if (qos_durability == "volatile") {group_config.qos.durability_volatile();}
 }
 
 bool wait_for_subscriptions_from_node_parameters(rclcpp::Node & node)