Run ROS 2 RT benchmarks

[danzimmerman]

See https://ros-realtime.github.io/ros2_realtime_benchmarks/benchmark_tools/cyclictest.html

[danzimmerman]

Trying https://ros-realtime.github.io/ros2_realtime_benchmarks/benchmark_tools/cyclictest.html

Need to install gnuplot beforehand. Looks like you terminate the bash script then it makes the plot.

See https://github.com/danzimmerman/dz_rpi_config/blob/bookworm/benchmarks/cyclictest_report.md

[danzimmerman]

Building performance tests

https://ros-realtime.github.io/ros2_realtime_benchmarks/benchmark_tools/performance_test.html#introduction

https://gitlab.com/ApexAI/performance_test/-/tree/master/performance_test#building-the-performance_test-tool
https://gitlab.com/ApexAI/performance_test/-/tree/master/performance_test#middleware-plugins

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DPERFORMANCE_TEST_PLUGIN=FASTDDS

Fails because it can't find Java, needs

sudo apt install default-jre

[danzimmerman]

Then fails with

Exception in thread "main" java.lang.NullPointerException: Cannot invoke "com.eprosima.fastdds.solution.Project.getIDLIncludeFiles()" because "project" is null
	at com.eprosima.fastdds.fastddsgen.execute(fastddsgen.java:406)
	at com.eprosima.fastdds.fastddsgen.main(fastddsgen.java:1490)

See https://gitlab.com/ApexAI/performance_test/-/issues/181 (not really the same but another build fail)