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Added missing files and a simple getting started manual for the demo
using the infrastructure proposed in the REP-2017 below. ros-infrastructure/rep#385 The demo is to explain how to use the infrastructure in the process that has multiple single-threaded executors as a reply to the question below. ros-infrastructure/rep#385 (comment) The YAML files for the existing executors are to demonstrate that the existing executors can be enhanced with our proposed infrastructure, supporting our mention below. ros-infrastructure/rep#385 (comment) Signed-off-by: Shoji Morita <s-morita@esol.co.jp>
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‎autoware_reference_system/CMakeLists.txt‎

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@@ -49,6 +49,10 @@ if(${FRAMEWORK} STREQUAL ros)
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add_benchmark_executable(autoware_default_prioritized
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src/ros2/executor/autoware_default_prioritized.cpp)
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# Prioritized Executor using REP-2017's feature
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add_benchmark_executable(autoware_default_prioritized_using_rep2017
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src/ros2/executor/autoware_default_prioritized_using_rep2017.cpp)
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# API `add_callback_group` not available in Foxy
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if(NOT $ENV{ROS_DISTRO} MATCHES "foxy")
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# Multiple executors on callback-group-level with suitable prioritization of critical path.
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endif()
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ament_auto_package(
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INSTALL_TO_SHARE test scripts
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INSTALL_TO_SHARE test scripts cfg
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)

‎autoware_reference_system/cfg/thread_attr_for_existing_executors.yaml‎

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- priority: 10
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- priority: 10
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name: RCLCPP_EXECUTOR_SINGLE_THREADED
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core_affinity: []
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scheduling_policy: RR
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- priority: 10
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- priority: 10
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name: RCLCPP_EXECUTOR_MULTI_THREADED
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core_affinity: []
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scheduling_policy: RR

‎autoware_reference_system/cfg/thread_attr_for_prioritized.yaml‎

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- priority: 1
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- priority: 1
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name: RCLCPP_EXECUTOR_HOTPATH
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core_affinity: [1,2,3]
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scheduling_policy: RR

‎misc/getting_started_thread_attribute_configuration_extention_rep2017.md‎

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# Getting started to use the REP-2017's infrastructure.
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This memo explains how to use the REP-2017's infrastructure proposed in the pull-request below.
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https://github.com/ros-infrastructure/rep/pull/385
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Throughout the procedures below, you can prepare the environment where the ROS 2 and benchmark application use the thread attribute configuration feature.
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## [Host PC] Create an SD card for Raspberry Pi 4
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````bash
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$ wget https://github.com/ros-realtime/ros-realtime-rpi4-image/releases/download/22.04.1_v5.15.39-rt42-raspi_ros2_humble/ubuntu-22.04.1-rt-ros2-arm64+raspi.img.xz
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#
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$ sudo rpi-imager --cli ubuntu-22.04.1-rt-ros2-arm64+raspi.img.xz [SD card's device node, e.g. /dev/sdc]
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````
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After booting with the SD card above, you have to configure the Raspberry Pi 4 to connect to the internet.
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## Prepare the build/execution environment for ROS 2 and sample benchmark.
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````bash
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$ sudo apt purge -y needrestart
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$ sudo apt update && sudo apt install -y locales
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$ sudo locale-gen en_US en_US.UTF-8
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$ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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$ export LANG=en_US.UTF-8
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$ sudo apt update && sudo apt install -y software-properties-common
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$ sudo add-apt-repository universe
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$ sudo apt update && sudo apt install -y curl
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$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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$ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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$ sudo apt update && sudo apt install -y \
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python3-flake8-docstrings \
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python3-pip \
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python3-pytest-cov \
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ros-dev-tools
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$ sudo apt update && sudo apt install -y \
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python3-flake8-blind-except \
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python3-flake8-builtins \
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python3-flake8-class-newline \
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python3-flake8-comprehensions \
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python3-flake8-deprecated \
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python3-flake8-import-order \
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python3-flake8-quotes \
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python3-pytest-repeat \
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python3-pytest-rerunfailures
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$ sudo apt update && sudo apt install -y libacl1-dev
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## needed to execute reference system's benchmark below
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## https://github.com/ros-realtime/reference-system
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$ sudo pip install bokeh==2.4.3
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$ sudo pip install pandas
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$ sudo pip install psrecord
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## Disable preinstalled ROS 2 humble.
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$ sudo rm /etc/profile.d/99-source-ros.sh
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$ sudo reboot
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````
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## Build ROS 2 Rolling, adopting the patches related to the REP-2017.
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````bash
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$ mkdir -p ros2_rolling/src
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$ cd ros2_rolling
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$ vcs import -w 1 src < ~/rolling-with-thread-attribute-configuration-extention-rep2017.repos
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# Copy the repos file above from the repository below.
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# https://github.com/esol-community/reference-system/tree/rep2017_demo/misc
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$ touch src/gazebo-release/COLCON_IGNORE
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$ touch src/ros2/rviz/COLCON_IGNORE
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$ sudo rosdep init
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$ rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
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$ colcon build --symlink-install --executor sequential
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# It takes at least 10 hours to self-build on the Raspberry Pi 4.
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````
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## Build reference-system benchmark modified to use the REP-2017 infrastructure.
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````bash
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$ mkdir -p ~/ros2_ws/src
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$ cd ~/ros2_ws/src
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$ git clone -b rep2017_demo https://github.com/esol-community/reference-system.git
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$ cd ~/ros2_ws
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$ source ~/ros2_rolling/install/setup.bash
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$ colcon build --symlink-install --executor sequential
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````
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## Execute the benchmark(prioritized).
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To get the result without thread attribute settings, execute the benchmark
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without the dedicated environment variable (ROS_THREAD_ATTRS_FILE).
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````bash
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$ export ROS_THREAD_ATTRS_FILE=
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$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_prioritized_using_rep2017
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````
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To get the result with the thread attribute settings, execute the benchmark after setting the environment variable to point to the YAML configuration file.
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````bash
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$ export ROS_THREAD_ATTRS_FILE=~/ros2_ws/install/autoware_reference_system/share/autoware_reference_system/cfg/thread_attr_for_prioritized.yaml
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$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_prioritized_using_rep2017
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````
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## Execute the benchmark(singlethreaded/multithreaded).
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To get the result without thread attribute settings, execute the benchmark
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without the dedicated environment variable (ROS_THREAD_ATTRS_FILE).
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````bash
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$ export ROS_THREAD_ATTRS_FILE=
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$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_singlethreaded
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or
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$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_multithreaded
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````
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To get the result with the thread attribute settings, execute the benchmark after setting the environment variable to point to the YAML configuration file.
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````bash
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$ export ROS_THREAD_ATTRS_FILE=~/ros2_ws/install/autoware_reference_system/share/autoware_reference_system/cfg/thread_attr_for_existing_executors.yaml
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$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_singlethreaded
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or
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$ python3 $(ros2 pkg prefix --share autoware_reference_system)/scripts/benchmark.py 120 autoware_default_multithreaded
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````
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