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Reconfigured run_benchmarks CI so that it can be conducted all moveit_benchmarks reliably #21

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merged 1 commit into from
Aug 12, 2024
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Reconfigured run_benchmarks CI so that it can be conducted all moveit_benchmarks reliably #21

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64 changes: 54 additions & 10 deletions .github/workflows/run_benchmarks.yml
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Original file line number Diff line number Diff line change
@@ -1,36 +1,80 @@
name: Run MoveIt Middleware Benchmarks and Push Results
name: Run MoveIt Middleware Benchmarks

on: [push]
on: [push, pull_request, workflow_dispatch]

jobs:
run_middleware_benchmarks:
name: run_benchmarks
run_all_benchmarks:
name: run_all_benchmarks
runs-on: ubuntu-latest
permissions:
contents: write
deployments: write
container:
image: ghcr.io/cihataltiparmak/moveit_middleware_benchmark:latest
steps:
- name: run perception benchmark
- name: run benchmarks for rmw_fastrtps
run: |
cd /ws
cd ${ROS_UNDERLAY}/..
. /opt/ros/rolling/setup.sh
. install/setup.sh
ros2 launch moveit_middleware_benchmark scenario_perception_pipeline_benchmark.launch.py
sh src/moveit_middleware_benchmark/scripts/run_all_benchmarks.sh -i ./src/moveit_middleware_benchmark/middleware_configurations/rmw_fastrtps/config_rmw_fastrtps.sh -d /benchmark_results -m rmw_fastrtps_cpp
- name: run benchmarks for rmw_cyclonedds
run: |
cd ${ROS_UNDERLAY}/..
. /opt/ros/rolling/setup.sh
. install/setup.sh
sh src/moveit_middleware_benchmark/scripts/run_all_benchmarks.sh -i ./src/moveit_middleware_benchmark/middleware_configurations/rmw_cyclonedds/config_rmw_cyclonedds.sh -d /benchmark_results -m rmw_cyclonedds_cpp
- name: clone repo
uses: actions/checkout@v3
- name: add to safe directory
run: |
git config --global --add safe.directory /__w/moveit_middleware_benchmark/moveit_middleware_benchmark
- name: push perception benchmark results to github pages
- name: push perception benchmark results for rmw_fastrtps to github pages
uses: benchmark-action/github-action-benchmark@v1
with:
name: Perception Pipeline Benchmark
tool: 'googlecpp'
output-file-path: /benchmark_results/scenario_perception_pipeline/rmw_fastrtps_cpp.json
# Access token to deploy GitHub Pages branch
github-token: ${{ secrets.GITHUB_TOKEN }}
# Push and deploy GitHub pages branch automatically
auto-push: true
gh-pages-branch: "gh-pages"
benchmark-data-dir-path: "rmw_fastrtps"
- name: push simple service client benchmark results for rmw_fastrtps to github pages
uses: benchmark-action/github-action-benchmark@v1
with:
name: Basic Service Client Benchmark
tool: 'googlecpp'
output-file-path: /benchmark_results/scenario_basic_service_client/rmw_fastrtps_cpp.json
# Access token to deploy GitHub Pages branch
github-token: ${{ secrets.GITHUB_TOKEN }}
# Push and deploy GitHub pages branch automatically
auto-push: true
gh-pages-branch: "gh-pages"
benchmark-data-dir-path: "rmw_fastrtps"

- name: push perception benchmark results for rmw_cyclonedds to github pages
uses: benchmark-action/github-action-benchmark@v1
with:
name: Perception Pipeline Benchmark
tool: 'googlecpp'
output-file-path: /benchmark_results/scenario_perception_pipeline/rmw_cyclonedds_cpp.json
# Access token to deploy GitHub Pages branch
github-token: ${{ secrets.GITHUB_TOKEN }}
# Push and deploy GitHub pages branch automatically
auto-push: true
gh-pages-branch: "gh-pages"
benchmark-data-dir-path: "rmw_cyclonedds"
- name: push simple service client benchmark results for rme_cyclonedds to github pages
uses: benchmark-action/github-action-benchmark@v1
with:
name: Movet Middleware Benchmark Project Perception Pipeline Benchmark
name: Basic Service Client Benchmark
tool: 'googlecpp'
output-file-path: /ws/middleware_benchmark_results.json
output-file-path: /benchmark_results/scenario_basic_service_client/rmw_cyclonedds_cpp.json
# Access token to deploy GitHub Pages branch
github-token: ${{ secrets.GITHUB_TOKEN }}
# Push and deploy GitHub pages branch automatically
auto-push: true
gh-pages-branch: "gh-pages"
benchmark-data-dir-path: "rmw_cyclonedds"
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