[Benchmarking]Add the cases to measure the start up time

benchmark/rclcpp/CMakeLists.txt

@@ -38,3 +38,4 @@ custom_executable(client-endurance-test)
 custom_executable(service-endurance-test)
 custom_executable(client-stress-test)
 custom_executable(service-stress-test)
+custom_executable(startup-test)

benchmark/rclcpp/startup-test.cpp

@@ -0,0 +1,21 @@
+// Copyright (c) 2018 Intel Corporation. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/rclcpp.hpp"
+
+int main(int argc, char* argv[]) {
+  rclcpp::init(argc, argv);
+  rclcpp::Node::make_shared("startup_node");
+  return 0;
+}

benchmark/rclnodejs/startup-test.js

@@ -0,0 +1,21 @@
+// Copyright (c) 2018 Intel Corporation. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+'use strict';
+
+const rclnodejs = require('../../index.js');
+
+rclnodejs.init().then(() => {
+  rclnodejs.createNode('startup_node');
+});

benchmark/rclpy/startup-test.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+# Copyright (c) 2018 Intel Corporation. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import rclpy
+
+def main():
+  rclpy.init()
+  rclpy.create_node('startup_node')
+
+if __name__ == '__main__':
+  main()