Generalized files for option and session_name. Integrated a1 with ros…

…2_benchmark
mcres · May 30, 2023 · 8c10325 · 8c10325
1 parent 130f204
commit 8c10325
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Showing 3 changed files with 10 additions and 4 deletions.
diff --git a/ros2_benchmark/ros2_benchmark/default_ros2_benchmark_config.yaml b/ros2_benchmark/ros2_benchmark/default_ros2_benchmark_config.yaml
@@ -144,4 +144,9 @@ ros2_benchmark_config:
     input_data_start_time: -1
     input_data_end_time: -1
 
+    # Integration with benchmarks
+    # The option can be with or without the monitor node
     option: 'with_monitor_node'
+    # The session name is overwritten in the launch file
+    session_name: ""
+
diff --git a/ros2_benchmark/ros2_benchmark/ros2_benchmark_config.py b/ros2_benchmark/ros2_benchmark/ros2_benchmark_config.py
@@ -103,7 +103,8 @@ class ROS2BenchmarkConfig():
         'linear_scan_acceptable_frame_rate_drop': float,
         'input_data_start_time': float,
         'input_data_end_time': float,
-        'option': str
+        'option': str,
+        'session_name': str
     }
 
     def __init__(self, config_file_path: str = '', *args, **kw):

diff --git a/ros2_benchmark/ros2_benchmark/ros2_benchmark_test.py b/ros2_benchmark/ros2_benchmark/ros2_benchmark_test.py
@@ -190,8 +190,8 @@ def generate_test_description(
             ]
         )
 
-    @staticmethod
-    def generate_test_description_with_nsys(
+    @classmethod
+    def generate_test_description_with_nsys(cls,
         launch_setup, node_startup_delay: float = 5.0
     ) -> launch.LaunchDescription:
         """Generate a test launch description with the nsys capability built in."""
@@ -202,7 +202,7 @@ def generate_test_description_with_nsys(
         nodes = launch_args + [OpaqueFunction(function=bound_launch_setup)]
 
         trace = Trace(
-            session_name="a2_rectify_nvidia",
+            session_name= cls.config.session_name,
             events_ust=[
                 "robotperf_benchmarks:*",
                 "ros2_image_pipeline:*",