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run_benchmarks.yml
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name: Run MoveIt Middleware Benchmarks
on:
push:
branches: [ main ]
pull_request:
workflow_dispatch:
jobs:
run_all_benchmarks:
name: run_all_benchmarks
runs-on: ubuntu-latest
strategy:
fail-fast: false
permissions:
contents: write
deployments: write
container:
image: ghcr.io/moveit/moveit_middleware_benchmark:latest
steps:
- name: run benchmarks for rmw_fastrtps
run: |
cd ${ROS_UNDERLAY}/..
. /opt/ros/rolling/setup.sh
. install/setup.sh
sh src/moveit_middleware_benchmark/scripts/run_all_benchmarks.sh -i ./src/moveit_middleware_benchmark/middleware_configurations/rmw_fastrtps/config.sh -d /benchmark_results
- name: run benchmarks for rmw_cyclonedds
run: |
cd ${ROS_UNDERLAY}/..
. /opt/ros/rolling/setup.sh
. install/setup.sh
sh src/moveit_middleware_benchmark/scripts/run_all_benchmarks.sh -i ./src/moveit_middleware_benchmark/middleware_configurations/rmw_cyclonedds/config.sh -d /benchmark_results
- name: clone repo
uses: actions/checkout@v3
- name: add to safe directory
run: |
git config --global --add safe.directory /__w/moveit_middleware_benchmark/moveit_middleware_benchmark
- name: push perception benchmark results for rmw_fastrtps to github pages
uses: benchmark-action/github-action-benchmark@v1
with:
name: Perception Pipeline Benchmark
tool: 'googlecpp'
output-file-path: /benchmark_results/scenario_perception_pipeline/rmw_fastrtps_cpp.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"
benchmark-data-dir-path: "rmw_fastrtps"
- name: push simple service client benchmark results for rmw_fastrtps to github pages
uses: benchmark-action/github-action-benchmark@v1
with:
name: Basic Service Client Benchmark
tool: 'googlecpp'
output-file-path: /benchmark_results/scenario_basic_service_client/rmw_fastrtps_cpp.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"
benchmark-data-dir-path: "rmw_fastrtps"
- name: push perception benchmark results for rmw_cyclonedds to github pages
uses: benchmark-action/github-action-benchmark@v1
with:
name: Perception Pipeline Benchmark
tool: 'googlecpp'
output-file-path: /benchmark_results/scenario_perception_pipeline/rmw_cyclonedds_cpp.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"
benchmark-data-dir-path: "rmw_cyclonedds"
- name: push simple service client benchmark results for rmw_cyclonedds to github pages
uses: benchmark-action/github-action-benchmark@v1
with:
name: Basic Service Client Benchmark
tool: 'googlecpp'
output-file-path: /benchmark_results/scenario_basic_service_client/rmw_cyclonedds_cpp.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"
benchmark-data-dir-path: "rmw_cyclonedds"