Firstly, setup and build the moveit_middleware_benchmark including all source dependencies. This assumes that ROS Rolling is being used, but other ROS distros should work as well. Additionally, rmw_zenoh just supports ROS Iron, ROS Jazzy and ROS Rolling.
# install colcon extensions
source /opt/ros/rolling/setup.bash
sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default
# create workspace
mkdir ws/src -p
cd ws/src
# clone this repository
git clone [email protected]:CihatAltiparmak/moveit_middleware_benchmark.git
vsc import moveit_middleware_benchmark/moveit_middleware_benchmark.repos --recursive
# build the workspace
cd ws
sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
colcon build --mixin releaseTo learn how to run these demos in this package, go to How To Run.