Made benchmark command arguments passable through ros2 launch args (#8)

* Made benchmark command arguments passable through ros2 launch args

* Add cli usage of perpeption pipeline benchmark to perception_pipeline_benchmark.md (See #8 (review))

docs/scenarios/perception_pipeline_benchmark.md

@@ -25,7 +25,13 @@ export RMW_IMPLEMENTATION=rmw_zenoh_cpp # select your rmw_implementation to benc
 ros2 launch moveit_middleware_benchmark scenario_perception_pipeline_benchmark.launch.py
 ```
 
-It will be created the json file named `middleware_benchmark_results.json` for benchmarking results after finishing benchmark code execution. You can see the benchmark results in more detail inside this json file.
+It will be defaultly benchmarked with 6 repetitions using first test_case in [`scenario_perception_pipeline_test_cases.yaml`](../../config/scenario_perception_pipeline_test_cases.yaml) It will be created the json file named `middleware_benchmark_results.json` for benchmarking results after finishing benchmark code execution. You can see the benchmark results in more detail inside this json file.
+
+If you want to customize your benchmark arguments or select different test case, you can use below command.
+
+```shell
+ros2 launch moveit_middleware_benchmark scenario_perception_pipeline_benchmark.launch.py benchmark_command_args:="--benchmark_out=middleware_benchmark_results.json --benchmark_out_format=json --benchmark_repetitions=1" selected_test_case_index:=0
+```
 
 ## How to benchmark the perception pipeline
 

launch/scenario_perception_pipeline_benchmark.launch.py

@@ -1,26 +1,29 @@
 import os
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, Shutdown
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch.conditions import IfCondition
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 from ament_index_python.packages import get_package_share_directory
-from moveit_configs_utils import MoveItConfigsBuilder
 from launch.actions import (
     DeclareLaunchArgument,
     ExecuteProcess,
+    Shutdown,
     LogInfo,
     RegisterEventHandler,
+    OpaqueFunction,
 )
 from launch.event_handlers import OnProcessExit
+from launch_ros.substitutions import FindPackageShare
+from moveit_configs_utils import MoveItConfigsBuilder
 
 
-def generate_launch_description():
-    ros2_control_hardware_type = DeclareLaunchArgument(
-        "ros2_control_hardware_type",
-        default_value="mock_components",
-        description="ROS 2 control hardware interface type to use for the launch file -- possible values: [mock_components, isaac]",
+def launch_setup(context, *args, **kwargs):
+    benchmark_command_args = context.perform_substitution(
+        LaunchConfiguration("benchmark_command_args")
+    ).split()
+
+    selected_test_case_index = int(
+        context.perform_substitution(LaunchConfiguration("selected_test_case_index"))
     )
 
     moveit_config = (
@@ -121,41 +124,64 @@ def generate_launch_description():
         package="moveit_middleware_benchmark",
         executable="scenario_perception_pipeline_benchmark_main",
         output="both",
-        arguments=[
-            "--benchmark_out=middleware_benchmark_results.json",
-            "--benchmark_out_format=json",
-        ],
+        arguments=benchmark_command_args,
         parameters=[
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,
             {"use_sim_time": True},
-            {"selected_test_case_index": 1},
+            {"selected_test_case_index": selected_test_case_index},
         ],
         on_exit=Shutdown(),
     )
 
+    return [
+        move_group_node,
+        static_tf_node,
+        robot_state_publisher,
+        ros2_control_node,
+        joint_state_broadcaster_spawner,
+        panda_arm_controller_spawner,
+        panda_hand_controller_spawner,
+        # for https://github.com/ros-controls/ros2_controllers/issues/981
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=panda_arm_controller_spawner,
+                on_exit=[
+                    LogInfo(
+                        msg="panda_arm_controller_spawner is finished. Now test_scenario_perception_pipeline will start"
+                    ),
+                    benchmark_main_node,
+                ],
+            )
+        ),
+    ]
+
+
+def generate_launch_description():
+    declared_arguments = []
+
+    selected_test_case_index_arg = benchmark_command_args = DeclareLaunchArgument(
+        "selected_test_case_index",
+        default_value="1",
+        description="Selected Test Case Number For Perception Pipeline Benchmark",
+    )
+    declared_arguments.append(selected_test_case_index_arg)
+
+    benchmark_command_args = DeclareLaunchArgument(
+        "benchmark_command_args",
+        default_value="--benchmark_out=middleware_benchmark_results.json --benchmark_out_format=json --benchmark_repetitions=6",
+        description="Google Benchmark Tool Arguments",
+    )
+    declared_arguments.append(benchmark_command_args)
+
+    ros2_control_hardware_type = DeclareLaunchArgument(
+        "ros2_control_hardware_type",
+        default_value="mock_components",
+        description="ROS 2 control hardware interface type to use for the launch file -- possible values: [mock_components, isaac]",
+    )
+    declared_arguments.append(ros2_control_hardware_type)
+
     return LaunchDescription(
-        [
-            ros2_control_hardware_type,
-            static_tf_node,
-            robot_state_publisher,
-            move_group_node,
-            ros2_control_node,
-            joint_state_broadcaster_spawner,
-            panda_arm_controller_spawner,
-            panda_hand_controller_spawner,
-            # for https://github.com/ros-controls/ros2_controllers/issues/981
-            RegisterEventHandler(
-                OnProcessExit(
-                    target_action=panda_arm_controller_spawner,
-                    on_exit=[
-                        LogInfo(
-                            msg="panda_arm_controller_spawner is finished. Now test_scenario_perception_pipeline will start"
-                        ),
-                        benchmark_main_node,
-                    ],
-                )
-            ),
-        ]
+        declared_arguments + [OpaqueFunction(function=launch_setup)]
     )