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Added simplify_map feature, as well as benchmark. New simplify_map ca…
…n speed up performance 10-20%, and is baseline faster at =0
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| <launch> | ||
|
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| <!-- | ||
| You can override these default values: | ||
| roslaunch flatland_Server server.launch world_path:="/some/world.yaml" initial_rate:="30.0" | ||
| --> | ||
| <arg name="world_path" default="$(find flatland_server)/test/benchmark_world/world.yaml"/> | ||
| <arg name="update_rate" default="200.0"/> | ||
| <arg name="step_size" default="0.005"/> | ||
| <arg name="benchmark_duration" default="60.0"/> | ||
| <arg name="use_perf" default="false" /> | ||
| <arg name="show_viz" default="true" /> | ||
| <arg name="simplify_map" default="2" /> <!-- 0=None, 1=moderately, 2=significantly--> | ||
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| <env name="ROSCONSOLE_FORMAT" value="[${severity} ${time} ${logger}]: ${message}" /> | ||
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| <param name="use_sim_time" value="true"/> | ||
|
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| <!-- launch flatland benchmark --> | ||
| <!-- /usr/lib/linux-tools/5.4.0-173-generic/perf on my local container --> | ||
| <node name="flatland_benchmark" pkg="flatland_server" type="flatland_benchmark" output="screen" required="true" | ||
| launch-prefix="$(eval 'perf record --call-graph dwarf --output=perf.out.flatland_benchmark.data --' if arg('use_perf') else '')" | ||
| > | ||
| <!-- Use the arguments passed into the launchfile for this node --> | ||
| <param name="world_path" value="$(arg world_path)" /> | ||
| <param name="update_rate" value="$(arg update_rate)" /> | ||
| <param name="step_size" value="$(arg step_size)" /> | ||
| <param name="show_viz" value="$(arg show_viz)" /> | ||
| <param name="benchmark_duration" value="$(arg benchmark_duration)" /> | ||
| <param name="simplify_map" value="$(arg simplify_map)" /> | ||
| </node> | ||
|
|
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| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,136 @@ | ||
| /* | ||
| * ______ __ __ __ | ||
| * /\ _ \ __ /\ \/\ \ /\ \__ | ||
| * \ \ \L\ \ __ __ /\_\ \_\ \ \ \____ ___\ \ ,_\ ____ | ||
| * \ \ __ \/\ \/\ \\/\ \ /'_` \ \ '__`\ / __`\ \ \/ /',__\ | ||
| * \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\ | ||
| * \ \_\ \_\ \___/ \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/ | ||
| * \/_/\/_/\/__/ \/_/\/__,_ /\/___/ \/___/ \/__/\/___/ | ||
| * @copyright Copyright 2024 Avidbots Corp. | ||
| * @name flatland_benchmark.cpp | ||
| * @brief Benchmark version of flatland_server | ||
| * @author Joseph Duchesne | ||
| * | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2024, Avidbots Corp. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the Avidbots Corp. nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
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| #include <ros/ros.h> | ||
| #include <signal.h> | ||
| #include <string> | ||
|
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| #include "flatland_server/simulation_manager.h" | ||
|
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| /** Global variables */ | ||
| flatland_server::SimulationManager *simulation_manager; | ||
| double benchmark_duration = 10.0; // overwritten by rosparam "benchmark_duration" if set | ||
| double benchmark_start = 0.0f; | ||
|
|
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| /** | ||
| * @name SigintHandler | ||
| * @brief Interrupt handler - sends shutdown signal to simulation_manager | ||
| * @param[in] sig: signal itself | ||
| */ | ||
| void SigintHandler(int sig) { | ||
| ROS_WARN_NAMED("Benchmark", "*** Shutting down... ***"); | ||
|
|
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| if (simulation_manager != nullptr) { | ||
| simulation_manager->Shutdown(); | ||
| delete simulation_manager; | ||
| simulation_manager = nullptr; | ||
| } | ||
| ROS_INFO_STREAM_NAMED("Benchmark", "Beginning ros shutdown"); | ||
| ros::shutdown(); | ||
| } | ||
|
|
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| void CheckTimeout(const ros::WallTimerEvent& timer_event) { | ||
| double elapsed = simulation_manager->timekeeper_.GetSimTime().toSec(); | ||
| if (elapsed >= benchmark_duration) { | ||
| double bench_time = ros::WallTime::now().toSec() - benchmark_start; | ||
| ROS_INFO_NAMED("Benchmark", "Benchmark complete. Ran %ld iterations in %.3f sec; %.3f iter/sec. Shutting down.", | ||
| simulation_manager->iterations_, bench_time, (double)(simulation_manager->iterations_)/bench_time); | ||
| ros::shutdown(); | ||
| } | ||
| ROS_INFO_THROTTLE_NAMED(1.0, "Benchmark", "Elapsed: %.1f/%.1f.", elapsed, benchmark_duration); | ||
| } | ||
|
|
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| /** | ||
| * @name main | ||
| * @brief Entrypoint for Flatland Server ros node | ||
| */ | ||
| int main(int argc, char **argv) { | ||
| ros::init(argc, argv, "flatland", ros::init_options::NoSigintHandler); | ||
| ros::NodeHandle node_handle("~"); | ||
|
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| // todo: Load default parameters, run on a specific (default incl.) map for N seconds, then report. | ||
|
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| // Load parameters | ||
| std::string world_path; // The file path to the world.yaml file | ||
| if (!node_handle.getParam("world_path", world_path)) { | ||
| ROS_FATAL_NAMED("Benchmark", "No world_path parameter given!"); | ||
| ros::shutdown(); | ||
| return 1; | ||
| } | ||
|
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| float update_rate = 200.0; // The physics update rate (Hz) | ||
| node_handle.getParam("update_rate", update_rate); | ||
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| float step_size = 1 / 200.0; | ||
| node_handle.getParam("step_size", step_size); | ||
|
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| bool show_viz = false; | ||
| node_handle.getParam("show_viz", show_viz); | ||
|
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| float viz_pub_rate = 30.0; | ||
| node_handle.getParam("viz_pub_rate", viz_pub_rate); | ||
|
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| node_handle.getParam("benchmark_duration", benchmark_duration); | ||
|
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| // Create simulation manager object | ||
| simulation_manager = new flatland_server::SimulationManager( | ||
| world_path, update_rate, step_size, show_viz, viz_pub_rate); | ||
|
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| // Register sigint shutdown handler | ||
| signal(SIGINT, SigintHandler); | ||
|
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| // timeout | ||
| ros::WallTimer timeout_timer = node_handle.createWallTimer(ros::WallDuration(0.01), &CheckTimeout); | ||
|
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| ROS_INFO_STREAM_NAMED("Benchmark", "Initialized"); | ||
| benchmark_start = ros::WallTime::now().toSec(); | ||
| simulation_manager->Main(/*benchmark=*/true); | ||
|
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| ROS_INFO_STREAM_NAMED("Benchmark", "Returned from simulation manager main"); | ||
| delete simulation_manager; | ||
| simulation_manager = nullptr; | ||
| return 0; | ||
| } |
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