Created documentations

docs/how_to_install.md

@@ -0,0 +1,25 @@
+## How To Install
+
+
+Firstly, setup the dependencies of moveit_middleware_benchmark repositories. It's suggested to test with rolling version of ROS.
+```sh
+# install colcon extentions
+source /opt/ros/rolling/setup.bash
+sudo apt install python3-colcon-common-extensions
+sudo apt install python3-colcon-mixin
+colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+colcon mixin update default
+
+# create workspace
+mkdir ws/src -p
+cd ws/src
+
+# clone this repository 
+git clone [email protected]:CihatAltiparmak/moveit_middleware_benchmark.git -b fix/refactor_codebase
+vsc import moveit_middleware_benchmark/moveit_middleware_benchmark.repos --recursive
+
+# build the workspace
+cd ws
+sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
+colcon build --mixin release
+```

docs/how_to_run.md

@@ -0,0 +1,9 @@
+## Scenarios
+
+### [Perception Pipeline Benchmark](scenarios/perception_pipeline_benchmark.md)
+
+This benchmark measures the elapsed time by which the determined path is sent for the robot to follow. This benchmark calculates `elapsed time`, `success_number` and `failure_number`. `elapsed_time` is used for measuring how much time the pipeline takes. `success_number` is used for presenting successfuly plannings and `failure_number` is used for presenting failed plannings.
+
+Firstly, `node` and `move_group_interface`in SetUp are created before each benchmark. `poses` inside `nav_msgs/msg/Path` is sent one by one to plan trajectory for robot. If planning is failed, only `failure_rate` is increased. If planning is successful, the trajectory_plan which move_group_server plan is sent via `move_group_interface` to start the execution of this planned trajectory. Then `success_number` is increased.
+
+For instance, the selected test_case includes 20 goal poses. These 20 goals is sent one by one to `move_group_server`. If the 5 goal poses out of 20 goal poses are failed, `success_number` equals 15 and `failure_number` equals 5. `success_number` and `failure_number` is important to observe the middlewares' behaviours.  

docs/index.md

@@ -0,0 +1,6 @@
+# MoveIt Middleware Benchmark
+
+This is a package created for measuring middleware effects on various scenarios. This package contains some scenarios such as perception pipeline.
+
+* [How To Install](./how_to_install.md)
+* [How To Run](./how_to_run.md)

docs/scenarios/perception_pipeline_benchmark.md

@@ -0,0 +1,193 @@
+## How To Run Perception Benchmark
+
+Firstly, source your ros version. It's suggested to test with rolling version of ROS.
+
+For instance, to test with rmw_zenoh, start to zenoh router using following command
+```sh
+# go to your workspace
+cd ws
+# Be sure that ros2 daemon is killed.
+pkill -9 -f ros && ros2 daemon stop
+# Then start zenoh router
+ros2 run rmw_zenoh_cpp rmw_zenohd 
+```
+
+Select your rmw_implementation as `rmw_zenoh_cpp` and run the perception benchmark launch file.
+```sh
+# go to your workspace
+cd ws
+source /opt/ros/rolling/setup.bash
+source install/setup.bash
+export RMW_IMPLEMENTATION=rmw_zenoh_cpp # select your rmw_implementation to benchmark
+ros2 launch moveit_middleware_benchmark moveit_middleware_benchmark_demo.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.
+
+## How to benchmark the perception pipeline
+
+The main idea here is to send some goal poses in `nav_msgs/msg/Path` format to move_group_server via move_group_interface and to measure the elapsed time.
+
+## How to create test cases
+
+You can add your test cases to `scenario_perception_pipeline_test_cases.yaml` file. For benchmarking of the scenario of perception pipeline, your test case must be presented in a type of nav_msgs/msg/Path. `poses` section presents `poses` field of `nav_msgs/msg/Path` type. There is a following example test case file. 
+
+```yaml
+test_cases:
+  - poses:
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+  - poses:
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+```