Compile benchmarks as separate modules and fix broken compilations of…

… executable files (#44) * Compile benchmarks as separate modules * Decrease diff * Fix Prefix
moveit · Dec 14, 2024 · 60d8748 · 60d8748
1 parent eda9ff1
commit 60d8748
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Showing 9 changed files with 56 additions and 44 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -17,46 +17,8 @@ find_package(yaml-cpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(example_interfaces REQUIRED)
 
-add_library(
-  moveit_middleware_benchmark_lib SHARED
-  src/scenarios/scenario_perception_pipeline.cpp
-  src/scenarios/scenario_basic_service_client.cpp)
-
-ament_target_dependencies(
-  moveit_middleware_benchmark_lib
-  PUBLIC
-  moveit_ros_planning_interface
-  rclcpp
-  benchmark
-  dynmsg
-  nav_msgs
-  std_msgs
-  yaml-cpp
-  example_interfaces)
-
-target_include_directories(
-  moveit_middleware_benchmark_lib
-  PUBLIC $<INSTALL_INTERFACE:include>
-         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
-
-target_link_libraries(moveit_middleware_benchmark_lib
-                      PUBLIC benchmark::benchmark ${YAML_CPP_LIBRARIES})
-
-add_executable(scenario_perception_pipeline_benchmark_main
-               src/scenario_perception_pipeline_benchmark_main.cpp)
-
-target_link_libraries(scenario_perception_pipeline_benchmark_main
-                      PUBLIC moveit_middleware_benchmark_lib)
-
-add_executable(scenario_basic_service_client_benchmark_main
-               src/scenario_basic_service_client_benchmark_main.cpp)
-
-target_link_libraries(scenario_basic_service_client_benchmark_main
-                      PUBLIC moveit_middleware_benchmark_lib)
-
-install(TARGETS scenario_perception_pipeline_benchmark_main
-                scenario_basic_service_client_benchmark_main
-        DESTINATION lib/moveit_middleware_benchmark)
+add_subdirectory(src/scenario_basic_service_client)
+add_subdirectory(src/scenario_perception_pipeline)
 
 install(DIRECTORY launch config DESTINATION share/moveit_middleware_benchmark)
 

diff --git a/...enarios/scenario_basic_service_client.hpp → ..._client/scenario_basic_service_client.hpp b/...enarios/scenario_basic_service_client.hpp → ..._client/scenario_basic_service_client.hpp
diff --git a/...cenarios/scenario_perception_pipeline.hpp → ...pipeline/scenario_perception_pipeline.hpp b/...cenarios/scenario_perception_pipeline.hpp → ...pipeline/scenario_perception_pipeline.hpp
diff --git a/src/scenario_basic_service_client/CMakeLists.txt b/src/scenario_basic_service_client/CMakeLists.txt
@@ -0,0 +1,24 @@
+add_executable(
+  scenario_basic_service_client_benchmark_main
+  scenario_basic_service_client_benchmark_main.cpp
+  scenario_basic_service_client.cpp)
+
+ament_target_dependencies(
+  scenario_basic_service_client_benchmark_main
+  PUBLIC
+  rclcpp
+  benchmark
+  std_msgs
+  example_interfaces
+  ament_index_cpp)
+
+target_include_directories(
+  scenario_basic_service_client_benchmark_main
+  PUBLIC $<INSTALL_INTERFACE:include>
+         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../include>)
+
+target_link_libraries(scenario_basic_service_client_benchmark_main
+                      PUBLIC benchmark::benchmark ${YAML_CPP_LIBRARIES})
+
+install(TARGETS scenario_basic_service_client_benchmark_main
+        DESTINATION lib/moveit_middleware_benchmark)
diff --git a/...enarios/scenario_basic_service_client.cpp → ..._client/scenario_basic_service_client.cpp b/...enarios/scenario_basic_service_client.cpp → ..._client/scenario_basic_service_client.cpp
@@ -37,7 +37,7 @@
    against basic service client works
  */
 
-#include "moveit_middleware_benchmark/scenarios/scenario_basic_service_client.hpp"
+#include "moveit_middleware_benchmark/scenario_basic_service_client/scenario_basic_service_client.hpp"
 
 namespace moveit
 {

diff --git a/...o_basic_service_client_benchmark_main.cpp → ...o_basic_service_client_benchmark_main.cpp b/...o_basic_service_client_benchmark_main.cpp → ...o_basic_service_client_benchmark_main.cpp
@@ -37,7 +37,7 @@
    against basic service client works
  */
 
-#include "moveit_middleware_benchmark/scenarios/scenario_basic_service_client.hpp"
+#include "moveit_middleware_benchmark/scenario_basic_service_client/scenario_basic_service_client.hpp"
 
 int main(int argc, char** argv)
 {

diff --git a/src/scenario_perception_pipeline/CMakeLists.txt b/src/scenario_perception_pipeline/CMakeLists.txt
@@ -0,0 +1,26 @@
+add_executable(
+  scenario_perception_pipeline_benchmark_main
+  scenario_perception_pipeline_benchmark_main.cpp
+  scenario_perception_pipeline.cpp)
+
+ament_target_dependencies(
+  scenario_perception_pipeline_benchmark_main
+  PUBLIC
+  moveit_ros_planning_interface
+  rclcpp
+  benchmark
+  dynmsg
+  nav_msgs
+  yaml-cpp
+  example_interfaces)
+
+target_include_directories(
+  scenario_perception_pipeline_benchmark_main
+  PUBLIC $<INSTALL_INTERFACE:include>
+         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../include>)
+
+target_link_libraries(scenario_perception_pipeline_benchmark_main
+                      PUBLIC benchmark::benchmark ${YAML_CPP_LIBRARIES})
+
+install(TARGETS scenario_perception_pipeline_benchmark_main
+        DESTINATION lib/moveit_middleware_benchmark)
diff --git a/...cenarios/scenario_perception_pipeline.cpp → ...pipeline/scenario_perception_pipeline.cpp b/...cenarios/scenario_perception_pipeline.cpp → ...pipeline/scenario_perception_pipeline.cpp
@@ -37,7 +37,7 @@
    against perception pipeline
  */
 
-#include "moveit_middleware_benchmark/scenarios/scenario_perception_pipeline.hpp"
+#include "moveit_middleware_benchmark/scenario_perception_pipeline/scenario_perception_pipeline.hpp"
 
 namespace moveit
 {

diff --git a/...io_perception_pipeline_benchmark_main.cpp → ...io_perception_pipeline_benchmark_main.cpp b/...io_perception_pipeline_benchmark_main.cpp → ...io_perception_pipeline_benchmark_main.cpp
@@ -37,7 +37,7 @@
    against perception pipeline
  */
 
-#include "moveit_middleware_benchmark/scenarios/scenario_perception_pipeline.hpp"
+#include "moveit_middleware_benchmark/scenario_perception_pipeline/scenario_perception_pipeline.hpp"
 
 int main(int argc, char** argv)
 {