Add a launch description wrapper (ros2#11)

Signed-off-by: Michael Carroll <[email protected]>

README.md

@@ -125,7 +125,9 @@ Then launch the demonstration system with the specified configuration:
 
 
 ```
-ros2 profile launch ~/safe_ros/src/ros2_profiling/ros2_profiling_demo/config/reference_system.yaml
+ros2 profile launch \
+  --launch-file ./src/reference_system/launch/reference_system.launch.py \
+  --config-file  ./src/ros2_profiling/ros2_profiling_demo/config/reference_system.yaml
 ```
 
 The `topnode` uses ROS 2 lifecycle states to determine when to start/stop recording, so we can begin the recording via:

ros2_profiling_demo/config/reference_system.yaml

@@ -1,90 +1,11 @@
-nodes:
-  - name: cordoba
-    package: reference_system
-    plugin: reference_system::Cordoba
-  - name: freeport
-    package: reference_system
-    plugin: reference_system::Freeport
-  - name: medellin
-    package: reference_system
-    plugin: reference_system::Medellin
-  - name: portsmouth
-    package: reference_system
-    plugin: reference_system::Portsmouth
-  - name: delhi
-    package: reference_system
-    plugin: reference_system::Delhi
-  - name: taipei
-    package: reference_system
-    plugin: reference_system::Taipei
-  - name: lyon
-    package: reference_system
-    plugin: reference_system::Lyon
-  - name: hebron
-    package: reference_system
-    plugin: reference_system::Hebron
-  - name: kingston
-    package: reference_system
-    plugin: reference_system::Kingston
-  - name: hamburg
-    package: reference_system
-    plugin: reference_system::Hamburg
-  - name: osaka
-    package: reference_system
-    plugin: reference_system::Osaka
-  - name: tripoli
-    package: reference_system
-    plugin: reference_system::Tripoli
-  - name: mandalay
-    package: reference_system
-    plugin: reference_system::Mandalay
-  - name: ponce
-    package: reference_system
-    plugin: reference_system::Ponce
-  - name: geneva
-    package: reference_system
-    plugin: reference_system::Geneva
-  - name: monaco
-    package: reference_system
-    plugin: reference_system::Monaco
-  - name: rotterdam
-    package: reference_system
-    plugin: reference_system::Rotterdam
-  - name: barcelona
-    package: reference_system
-    plugin: reference_system::Barcelona
-  - name: arequipa
-    package: reference_system
-    plugin: reference_system::Arequipa
-  - name: georgetown
-    package: reference_system
-    plugin: reference_system::Georgetown
+record_path: ~/.ros/profile
 
-containers:
-  - name: reference_system_robot
-    type: component_container_isolated
-    nodes:
-      - cordoba
-      - freeport
-      - medellin
-      - portsmouth
-      - delhi
-      - taipei
-      - lyon
-      - hebron
-      - kingston
-      - hamburg
-      - osaka
-      - tripoli
-      - mandalay
-      - ponce
+tracing:
+  session_name: ros2profile-tracing-session
+  kernel:
+    events: []
 
-  - name: reference_system_control
-    type: component_container_isolated
-    nodes:
-      - geneva
-      - monaco
-      - rotterdam
-      - barcelona
-      - arequipa
-      - georgetown
+topnode:
+  nodes:
+    - "/reference_system_robot"
+    - "/reference_system_control"

ros2_profiling_demo/test/test_graph.py

@@ -2,9 +2,9 @@
 
 def test_graph(profile_event_graph):
     graph = profile_event_graph
-    assert len(graph.nodes()) == 24
-    assert len(graph.topics()) == 25
-    assert len(graph.publishers()) == 25
+    assert len(graph.nodes()) == 31
+    assert len(graph.topics()) == 29
+    assert len(graph.publishers()) == 29
     assert len(graph.subscriptions()) == 36
 
 

ros2_profiling_demo/test/test_profile.py

@@ -1,14 +1,70 @@
-def test_nodes(profile_data):
-    assert len(profile_data.nodes()) == 20
-
-    # Assert that all of the nodes under test are available
-    # in the tracing data
-    for node in profile_data.nodes():
-        handle = profile_data.node_handle(node['name'])
-        assert handle
-
-def test_cpu(profile_data):
-    containers = profile_data.containers()
-    for container in containers:
-        usage = profile_data.cpu_memory_usage(container)
-        assert (usage['cpu_percent'] < 50).all()
+import numpy as np
+
+def check_diff(field, tol=1e-6):
+    check = np.abs(field.max() - field.min())
+
+    if check >= tol:
+        print(field.max(), field.min())
+    return check < tol
+
+def test_reference_system_control(profile_data):
+    '''
+    Demonstrate asserting based on topnode-collected profiling data
+    '''
+    data = None
+    for key in profile_data.keys():
+        if key.find('reference_system_control') >= 0:
+            data = profile_data[key]
+    assert data is not None
+
+    # By default:
+    # Topnode data should have 4 message types:
+    assert '~/cpu_memory_usage' in data
+    assert '~/memory_state' in data
+    assert '~/io_stats' in data
+    assert '~/stat' in data
+
+    cpu_memory_usage = data['~/cpu_memory_usage']
+    memory_state = data['~/memory_state']
+    io_stats = data['~/io_stats']
+    stat = data['~/stat']
+
+    # CPU should never exceed 5%
+    assert np.all(cpu_memory_usage['cpu_percent'] < 5)
+
+    # Memory usage should stay constant
+    assert check_diff(cpu_memory_usage.max_resident_set_size)
+    assert check_diff(cpu_memory_usage.shared_size)
+    assert check_diff(cpu_memory_usage.virtual_size)
+    assert check_diff(cpu_memory_usage.memory_percent)
+    assert check_diff(memory_state.resident_size, 100)
+
+
+def test_reference_system_robot(profile_data):
+    data = None
+    for key in profile_data.keys():
+        if key.find('reference_system_control') >= 0:
+            data = profile_data[key]
+    assert data is not None
+
+    # By default:
+    # Topnode data should have 4 message types:
+    assert '~/cpu_memory_usage' in data
+    assert '~/memory_state' in data
+    assert '~/io_stats' in data
+    assert '~/stat' in data
+
+    cpu_memory_usage = data['~/cpu_memory_usage']
+    memory_state = data['~/memory_state']
+    io_stats = data['~/io_stats']
+    stat = data['~/stat']
+
+    # CPU should never exceed 5%
+    assert np.all(cpu_memory_usage['cpu_percent'] < 5)
+
+    # Memory usage should stay constant
+    assert check_diff(cpu_memory_usage.max_resident_set_size)
+    assert check_diff(cpu_memory_usage.shared_size)
+    assert check_diff(cpu_memory_usage.virtual_size)
+    assert check_diff(cpu_memory_usage.memory_percent)
+    assert check_diff(memory_state.resident_size, 100)

ros2profile/ros2profile/api/process.py

@@ -105,22 +105,28 @@ def process_one(input_file):
 
 def process(input_path):
     mcap_files = glob.glob(input_path + '*.mcap')
-    print(f'Processing {len(mcap_files)} topnode files')
 
+    to_process = []
     for mcap_file in mcap_files:
+        base = os.path.splitext(mcap_file)[0]
+        if not os.path.exists(base + '.converted'):
+            to_process.append(base)
+    print(f'Processing {len(to_process)} topnode files ({len(mcap_files)} cached)')
+
+    for mcap_file in to_process:
         base = os.path.splitext(mcap_file)[0]
         data = process_one(mcap_file)
 
         with open(base + '.converted', 'wb') as f:
             p = pickle.Pickler(f, protocol=4)
             p.dump(data)
 
-    events = load_ctf(input_path)
-    graph = build_graph(events)
-
-    with open(os.path.join(input_path, 'event_graph'), 'wb') as f:
-        p = pickle.Pickler(f, protocol=4)
-        p.dump(graph)
+    if not os.path.exists(os.path.join(input_path, 'event_graph')):
+        events = load_ctf(input_path)
+        graph = build_graph(events)
+        with open(os.path.join(input_path, 'event_graph'), 'wb') as f:
+            p = pickle.Pickler(f, protocol=4)
+            p.dump(graph)
 
 
 def load_mcap_data(input_path):

ros2profile/ros2profile/data/convert/ctf.py

@@ -25,12 +25,16 @@
     'rmw_publisher_handle': int,
     'rmw_subscription_handle': int,
     'rmw_service_handle': int,
+    'rmw_client_handle': int,
     'subscription_handle': int,
     'publisher_handle': int,
     'service_handle': int,
+    'client_handle': int,
     'timer_handle': int,
     'rmw_handle': int,
     'node_name': str,
+    'start_label': str,
+    'goal_label': str,
     'namespace': str,
     'version': str,
     'vpid': int,