From 8c1032568f4bbe8b901f80797cc6fcba9bdf0724 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alex=20Mart=C3=ADnez=20Fari=C3=B1a?=
 <alex@accelerationrobotics.com>
Date: Tue, 30 May 2023 12:20:54 +0200
Subject: [PATCH] Generalized files for option and session_name. Integrated a1
 with ros2_benchmark

---
 .../ros2_benchmark/default_ros2_benchmark_config.yaml       | 5 +++++
 ros2_benchmark/ros2_benchmark/ros2_benchmark_config.py      | 3 ++-
 ros2_benchmark/ros2_benchmark/ros2_benchmark_test.py        | 6 +++---
 3 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/ros2_benchmark/ros2_benchmark/default_ros2_benchmark_config.yaml b/ros2_benchmark/ros2_benchmark/default_ros2_benchmark_config.yaml
index 0a6675f..9967697 100644
--- 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
index 0fbfb91..ccd4e91 100644
--- 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
index fb1d47c..26f77fc 100644
--- 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:*",