Added scripts related to visualization, running benchmarks etc.

middleware_configurations/rmw_zenoh/config_rmw_zenoh.sh

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+echo "The configurations for rmw_zenoh_cpp is started!"
+# sudo sysctl -w "net.ipv4.tcp_rmem=4096 4096 4096"
+# sudo sysctl -w "net.ipv4.tcp_wmem=4096 4096 4096"
+# sudo sysctl -w "net.ipv4.tcp_mem=4096 4096 4096"
+echo "The configurations for rmw_zenoh_cpp is finished!"

scripts/box_plot_visualizer.py

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+import matplotlib.pyplot as plt
+import numpy as np
+import json
+import os
+import sys
+
+BENCHMARK_RESULTS_DIR=sys.argv[1]
+
+middleware_colors = {
+    'rmw_zenoh_cpp' : 'orange',
+    'rmw_cyclonedds_cpp' : 'peachpuff',
+    'rmw_fastrtps_cpp' : 'tomato'}
+
+middleware_list = ["rmw_zenoh_cpp", "rmw_cyclonedds_cpp", "rmw_fastrtps_cpp"]
+
+def read_benchmark_json(file_name):
+    benchmark_json_data = None
+    with open(file_name) as f:
+        benchmark_json_data = json.load(f)
+    return benchmark_json_data
+
+def get_real_time_list_from_benchmark_json(benchmark_json_data):
+    real_time_list = []
+    for benchmark_info in benchmark_json_data["benchmarks"]:
+        if benchmark_info["run_type"] == "iteration":
+            real_time_list.append(benchmark_info["real_time"])
+    return real_time_list
+
+def get_middleware_dataset_for_scenario(scenario_name):
+    middleware_datasets = []
+    for middleware_name in middleware_list:
+        file_name = os.path.join(BENCHMARK_RESULTS_DIR, scenario_name, f"{middleware_name}.json")
+        benchmark_json_data = read_benchmark_json(file_name)
+        dataset = get_real_time_list_from_benchmark_json(benchmark_json_data)
+        middleware_datasets.append(
+            {
+                "name" : middleware_name,
+                "dataset" : dataset,
+                "color" : middleware_colors[middleware_name],
+            })
+    return middleware_datasets
+
+def plot_dataset_of_scenario(plt, middleware_datasets):
+    labels = []
+    colors = []
+    datasets = []
+
+    for x in middleware_datasets:
+        labels.append(x["name"])
+        colors.append(x["color"])
+        datasets.append(x["dataset"])
+
+    fig, ax = plt.subplots()
+    ax.set_ylabel('real time (ns)')
+
+    bplot = ax.boxplot(datasets,
+                       patch_artist=True,
+                       tick_labels=labels)
+
+    # fill with colors
+    for patch, color in zip(bplot['boxes'], colors):
+        patch.set_facecolor(color)
+
+for scenario_name in os.listdir(BENCHMARK_RESULTS_DIR):
+    middleware_datasets = get_middleware_dataset_for_scenario(scenario_name)
+    plot_dataset_of_scenario(plt, middleware_datasets)
+
+plt.show()

scripts/run_all_benchmarks.sh

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+# Inspired from https://unix.stackexchange.com/questions/31414/how-can-i-pass-a-command-line-argument-into-a-shell-script
+helpFunction()
+{
+   echo ""
+   echo "Usage: $0 -i initial_script -m middleware_name -d benchmark_results_directory"
+   echo -i "\t-i initial_script to run once all benchmarks are started"
+   echo -e "\t-m selected middleware to benchmark"
+   echo -e "\t-c the directory the benchmark results is saved"
+   exit 1 # Exit script after printing help
+}
+
+while getopts "i:m:d:" opt
+do
+   case "$opt" in
+      i ) initial_script="$OPTARG" ;;
+      m ) middleware_name="$OPTARG" ;;
+      d ) benchmark_results_directory="$OPTARG" ;;
+      ? ) helpFunction ;; # Print helpFunction in case parameter is non-existent
+   esac
+done
+
+# Print helpFunction in case parameters are empty
+if [ -z "$initial_script" ] || [ -z "$middleware_name" ] || [ -z "$benchmark_results_directory" ]
+then
+   echo "Some or all of the parameters are empty";
+   helpFunction
+fi
+
+echo "middleware name is $middleware_name"
+echo "benchmark results directory is $benchmark_results_directory"
+
+echo "Benchmarking is starting!"
+echo "Starting initial sctipts before bechmarks run!"
+sh "$initial_script"
+echo "Initial script has finished! Now starting to benchmark middleware with scenarios!"
+
+# ros2 daemon stop
+# ros2 launch moveit_middleware_benchmark scenario_basic_service_client_benchmark.launch.py benchmark_command_args:="--benchmark_out=middleware_bechmark_results.json --benchmark_out_format=json"
+
+# ros2 daemon stop
+# ros2 launch moveit_middleware_benchmark scenario_perception_pipeline_benchmark.launch.py benchmark_command_args:="--benchmark_out=middleware_bechmark_results.json --benchmark_out_format=json"