Fix minor benchmark compile & runtime errors due to api changes.

Commit Summary

CmakeList.txt
1 - added example_interfaces to find_package()

publisher-stress-test.cpp
1 - added qos argument when creating publisher
2 - removed std::make_shared when creating the test message to resolve
compilation error.

subscription-stress-test.cpp
1 - added missing ';'

publisher-stress-test.py
1 - added required QoS argument when creating publisher

subscription-stress-test.py
1 - added required QoS argument when creating subscription

Fix #739

Author: wayneparrott

benchmark/rclcpp/CMakeLists.txt

@@ -13,6 +13,7 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(example_interfaces REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)

benchmark/rclcpp/service/client-stress-test.cpp

@@ -61,7 +61,7 @@ int main(int argc, char* argv[]) {
       auto result_future = client->async_send_request(request);
       if (rclcpp::spin_until_future_complete(node, result_future) !=
           rclcpp::executor::FutureReturnCode::SUCCESS) {
-        RCLCPP_ERROR(node->get_logger(), "service call failed.")
+        RCLCPP_ERROR(node->get_logger(), "service call failed.");
         return 1;
       }
       auto result = result_future.get();

benchmark/rclcpp/topic/publisher-stress-test.cpp

@@ -25,8 +25,8 @@
 void ShowUsage(const std::string name) {
     std::cerr << "Usage: " << name << " [options]\n"
               << "\nOptions:\n"
-              << "\n--size [size_kb]\tThe block size\n"
-              << "--run <n>         \tHow many times to run\n"
+              << "\n--size=[size_kb]\tThe block size\n"
+              << "--run=<n>         \tHow many times to run\n"
               << "--help            \toutput usage information"
               << std::endl;
 }
@@ -68,9 +68,9 @@ int main(int argc, char* argv[]) {
       *height_dim, *width_dim, *channel_dim};
   layout->data_offset = 0;
 
-  auto msg = std::make_shared<std_msgs::msg::UInt8MultiArray>();
-  msg->layout = *layout;
-  msg->data = std::vector<uint8_t>(1024 * amount, 255);
+  auto msg = std_msgs::msg::UInt8MultiArray();
+  msg.layout = *layout;
+  msg.data = std::vector<uint8_t>(1024 * amount, 255);
 
   printf(
       "The publisher will publish a UInt8MultiArray topic(contains a size of "
@@ -79,7 +79,7 @@ int main(int argc, char* argv[]) {
   auto start = std::chrono::high_resolution_clock::now();
   auto node = rclcpp::Node::make_shared("stress_publisher_rclcpp");
   auto publisher =
-      node->create_publisher<std_msgs::msg::UInt8MultiArray>("stress_topic");
+      node->create_publisher<std_msgs::msg::UInt8MultiArray>("stress_topic", 10);
   auto sent_times = 0;
 
   while (rclcpp::ok()) {

benchmark/rclcpp/topic/subscription-stress-test.cpp

@@ -20,6 +20,7 @@ int main(int argc, char* argv[]) {
   auto node = rclcpp::Node::make_shared("stress_subscription_rclcpp");
   auto sub = node->create_subscription<std_msgs::msg::UInt8MultiArray>(
       "stress_topic",
+      10,
       [](std_msgs::msg::UInt8MultiArray::SharedPtr msg) { (void)msg; });
   rclcpp::spin(node);
 

benchmark/rclpy/topic/publisher-stress-test.py

@@ -59,7 +59,7 @@ def main():
   print('The publisher will publish a UInt8MultiArray topic(contains a size of %dKB array) %s times.' % (amount, args.run))
   start = time()
   node = rclpy.create_node('stress_publisher_rclpy')
-  publisher = node.create_publisher(UInt8MultiArray, 'stress_topic')
+  publisher = node.create_publisher(UInt8MultiArray, 'stress_topic', 10)
   total_times = args.run
   sent_times = 0
 

benchmark/rclpy/topic/subscription-stress-test.py

@@ -22,7 +22,7 @@ def callback(msg):
 def main():
   rclpy.init()
   node = rclpy.create_node('stress_subscription_rclpy')
-  subscription = node.create_subscription(UInt8MultiArray, 'stress_topic', callback)
+  subscription = node.create_subscription(UInt8MultiArray, 'stress_topic', callback, 10)
   while rclpy.ok():
     rclpy.spin_once(node)