From de78a99b27784ada33b3cb5f3e8eadd603474aa6 Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Mon, 8 Jul 2024 18:21:05 +0300 Subject: [PATCH 1/8] Created dockerfile for easier usage --- Dockerfile | 25 +++++++++++++++++++++++++ 1 file changed, 25 insertions(+) create mode 100644 Dockerfile diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..f60ca5d --- /dev/null +++ b/Dockerfile @@ -0,0 +1,25 @@ +FROM ros:rolling + +RUN apt-get update && \ + apt install wget -y + +RUN mkdir ws/src -p + +RUN . /opt/ros/rolling/setup.sh && \ + cd ws/src && \ + git clone https://github.com/CihatAltiparmak/moveit_middleware_benchmark.git -b development && \ + vcs import < moveit_middleware_benchmark/moveit_middleware_benchmark.repos --recursive + +RUN cd ws/src && \ + # git clone https://github.com/ros2/rmw_zenoh.git && \ + git clone https://github.com/ros2/rmw_cyclonedds.git + +RUN . /opt/ros/rolling/setup.sh && \ + cd ws && \ + rosdep update --rosdistro=$ROS_DISTRO && \ + apt-get update && \ + rosdep install --from-paths src --ignore-src -r -y + +RUN . /opt/ros/rolling/setup.sh && \ + cd ws && \ + colcon build --mixin release --packages-skip test_dynmsg dynmsg_demo \ No newline at end of file From 7ee890fe2b190cd4efd50247bac2aa11a7bd14e0 Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Mon, 8 Jul 2024 18:22:06 +0300 Subject: [PATCH 2/8] Pre-commit fix --- Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Dockerfile b/Dockerfile index f60ca5d..ff7281a 100644 --- a/Dockerfile +++ b/Dockerfile @@ -22,4 +22,4 @@ RUN . /opt/ros/rolling/setup.sh && \ RUN . /opt/ros/rolling/setup.sh && \ cd ws && \ - colcon build --mixin release --packages-skip test_dynmsg dynmsg_demo \ No newline at end of file + colcon build --mixin release --packages-skip test_dynmsg dynmsg_demo From a7ea31e16e882843c8211017bcb8be6bb9c2cd82 Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Mon, 8 Jul 2024 18:45:34 +0300 Subject: [PATCH 3/8] Added action.yml for creating custom github action --- action.yml | 6 ++++++ 1 file changed, 6 insertions(+) create mode 100644 action.yml diff --git a/action.yml b/action.yml new file mode 100644 index 0000000..597a360 --- /dev/null +++ b/action.yml @@ -0,0 +1,6 @@ +name: 'MoveIt Middleware Benchmarks' +description: 'Github Action for Middleware Benchmark Tool of MoveIt2' + +runs: + using: 'docker' + image: 'Dockerfile' \ No newline at end of file From ab63c51ba5452dc58182ab88c905e79cbe332516 Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Mon, 8 Jul 2024 18:46:51 +0300 Subject: [PATCH 4/8] pre-commit fix --- action.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/action.yml b/action.yml index 597a360..e5a4c57 100644 --- a/action.yml +++ b/action.yml @@ -3,4 +3,4 @@ description: 'Github Action for Middleware Benchmark Tool of MoveIt2' runs: using: 'docker' - image: 'Dockerfile' \ No newline at end of file + image: 'Dockerfile' From af9d9e29e2bb2c8d0bd43ec02b8d7c7ec56bb56a Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Mon, 8 Jul 2024 18:50:54 +0300 Subject: [PATCH 5/8] Created custom github action for MoveIt Middleware Benchmarks to be tested easier --- .../test_moveit_middleware_benchmark_action.yml | 11 +++++++++++ 1 file changed, 11 insertions(+) create mode 100644 .github/workflows/test_moveit_middleware_benchmark_action.yml diff --git a/.github/workflows/test_moveit_middleware_benchmark_action.yml b/.github/workflows/test_moveit_middleware_benchmark_action.yml new file mode 100644 index 0000000..b152d3f --- /dev/null +++ b/.github/workflows/test_moveit_middleware_benchmark_action.yml @@ -0,0 +1,11 @@ +name: MoveIt Middleware Benchmark Github Action Test + +on: [push, pull_request, workflow_dispatch] + +jobs: + moveit_middleware_benchmark_github_action_test: + name: build + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v2 + - uses: ./ From 818fc2d9b395a6738b31462e1cd658b7a2a7848a Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Thu, 11 Jul 2024 01:33:08 +0300 Subject: [PATCH 6/8] Created github action for building and pushing latest docker images --- .github/workflows/create_docker_image.yml | 34 +++++++++++++++++++++++ 1 file changed, 34 insertions(+) create mode 100644 .github/workflows/create_docker_image.yml diff --git a/.github/workflows/create_docker_image.yml b/.github/workflows/create_docker_image.yml new file mode 100644 index 0000000..652e6ea --- /dev/null +++ b/.github/workflows/create_docker_image.yml @@ -0,0 +1,34 @@ +name: Create Docker Image + +on: [push, pull_request, workflow_dispatch] + +jobs: + build_and_push_docker_image: + name: build + runs-on: ubuntu-latest + permissions: + contents: read + packages: write + attestations: write + id-token: write + steps: + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v3 + - name: Login to Docker Hub + uses: docker/login-action@v3 + with: + registry: ghcr.io + username: ${{ github.actor }} + password: ${{ secrets.GITHUB_TOKEN }} + - name: Docker meta + id: meta + uses: docker/metadata-action@v5 + with: + images: ghcr.io/CihatAltiparmak/moveit_middleware_benchmark + flavor: latest=true + - name: Build and push + uses: docker/build-push-action@v6 + with: + push: true + tags: ${{ steps.meta.outputs.tags }} + labels: ${{ steps.meta.outputs.labels }} From 3d4396f1f8784c822d781bc7fbf3a434e53379f7 Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Fri, 12 Jul 2024 00:23:09 +0300 Subject: [PATCH 7/8] Added some github actions for conducting benchmark tests and pushing their results into some website - Used https://github.com/benchmark-action/github-action-benchmark --- .github/workflows/run_benchmarks.yml | 36 ++++++++++++++++++++++++++++ 1 file changed, 36 insertions(+) create mode 100644 .github/workflows/run_benchmarks.yml diff --git a/.github/workflows/run_benchmarks.yml b/.github/workflows/run_benchmarks.yml new file mode 100644 index 0000000..b65dafa --- /dev/null +++ b/.github/workflows/run_benchmarks.yml @@ -0,0 +1,36 @@ +name: Run MoveIt Middleware Benchmarks and Push Results + +on: [push] + +jobs: + run_middleware_benchmarks: + name: run_benchmarks + runs-on: ubuntu-latest + permissions: + contents: write + deployments: write + container: + image: ghcr.io/cihataltiparmak/moveit_middleware_benchmark:latest + steps: + - name: run perception benchmark + run: | + cd /ws + . /opt/ros/rolling/setup.sh + . install/setup.sh + ros2 launch moveit_middleware_benchmark scenario_perception_pipeline_benchmark.launch.py + - name: clone repo + uses: actions/checkout@v3 + - name: add to safe directory + run: | + git config --global --add safe.directory /__w/dummy_ci/dummy_ci + - name: push perception benchmark results to github pages + uses: benchmark-action/github-action-benchmark@v1 + with: + name: Movet Middleware Benchmark Project Perception Pipeline Benchmark + tool: 'googlecpp' + output-file-path: /ws/middleware_benchmark_results.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" From a1ec074a5c71b052e7f0833871457cca811966a5 Mon Sep 17 00:00:00 2001 From: CihatAltiparmak Date: Fri, 12 Jul 2024 01:29:43 +0300 Subject: [PATCH 8/8] Fixed run_benchmarks.yml github action for fixing the problem to push results --- .github/workflows/run_benchmarks.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/run_benchmarks.yml b/.github/workflows/run_benchmarks.yml index b65dafa..9f87da6 100644 --- a/.github/workflows/run_benchmarks.yml +++ b/.github/workflows/run_benchmarks.yml @@ -22,7 +22,7 @@ jobs: uses: actions/checkout@v3 - name: add to safe directory run: | - git config --global --add safe.directory /__w/dummy_ci/dummy_ci + git config --global --add safe.directory /__w/moveit_middleware_benchmark/moveit_middleware_benchmark - name: push perception benchmark results to github pages uses: benchmark-action/github-action-benchmark@v1 with: