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Add benchmark tests #973

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sloretz
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@sloretz sloretz commented Jul 19, 2022 •
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This PR adds benchmarks that measure how quickly different types of entities are handled. This would be useful for testing performance improvements.

The benchmark tests are skipped unless AMENT_RUN_PERFORMANCE_TESTS is set, which is the same behavior as as ament_add_google_benchmark_test.

WIP because this needs a new rosdep key python3-pytest-benchmark for https://pypi.org/project/pytest-benchmark/
Requires ros/rosdistro#33918

@sloretz sloretz added the enhancement New feature or request label Jul 19, 2022
@sloretz sloretz self-assigned this Jul 19, 2022
@sloretz sloretz mentioned this pull request Jul 20, 2022
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@sloretz sloretz force-pushed the sloretz__add_benchmark_tests branch from 60cbd2c to 1527a9e Compare July 22, 2022 19:13
@sloretz sloretz mentioned this pull request Jul 22, 2022
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fujitatomoya
fujitatomoya reviewed Jul 25, 2022
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benchmark test would be really useful. Do we have any plan to integrate this kind of benchmark in CI/CD so that it can detect the performance degression?

@sloretz sloretz marked this pull request as ready for review July 25, 2022 17:59
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sloretz commented Jul 25, 2022

Do we have any plan to integrate this kind of benchmark in CI/CD so that it can detect the performance degression?

There are benchmark jobs run for each release on build.ros2.org. Here's the one for Rolling https://build.ros2.org/view/Rci/job/Rci__benchmark_ubuntu_jammy_amd64/ . It looks like it runs nightly, but I think it wouldn't show an issue until the package got released, and I don't think there's an automatic comparison with past jobs.

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sloretz commented Jul 25, 2022

@ros-pull-request-builder retest this please

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sloretz commented Jul 25, 2022

CI (build: --packages-up-to rclpy test: --packages-select rclpy)

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

And one with the benchmark tests enabled (build: -DAMENT_RUN_PERFORMANCE_TESTS=ON --packages-up-to rclpy test: --packages-select rclpy)

  • Linux Build Status

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sloretz commented Jul 27, 2022

Benchmark tests one more time with ros2/ci#674

  • Linux: Build Status

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sloretz commented Jul 27, 2022

CI LGTM!

jacobperron
jacobperron approved these changes Jul 28, 2022
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One minor comment and a question. Otherwise, LGTM

rclpy/CMakeLists.txt Outdated
APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}
PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
TIMEOUT 120
WERROR ON
)
# Skip benchmark tests by default
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This comment looks like it's in the wrong place. Maybe at L209?

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Moved comment to correct spot in 5a0f651

rclpy/test/benchmark/test_benchmark_actions.py
executor.spin_until_future_complete(result_fut)
assert GoalStatus.STATUS_SUCCEEDED == result_fut.result().status

benchmark(bm)
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In the other tests we are asserting the result of benchmark, should we do that here?

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Looking at the assertions now I don't think they were adding value. I removed them in 76fd188

rclpy/test/benchmark/test_benchmark_client_service.py
executor.spin_until_future_complete(fut)
assert fut.result() # Raises if there was an error

benchmark(bm)
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Same here, should we assert?

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Removed assertions in 76fd188

@sloretz
Add benchmark tests
a0e2392 
Signed-off-by: Shane Loretz <[email protected]>
@sloretz
Move comment to correct spot
5a0f651 
Signed-off-by: Shane Loretz <[email protected]>
@sloretz
Remove assertions
76fd188 
Signed-off-by: Shane Loretz <[email protected]>
@sloretz sloretz force-pushed the sloretz__add_benchmark_tests branch from 1527a9e to 76fd188 Compare October 14, 2022 01:51
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sloretz commented Oct 14, 2022

CI re-run

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

Benchmark job: Build Status

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